Electrosurgical instrument with variable control mechanisms

ABSTRACT

A surgical instrument comprising a motor assembly, a shaft defining a shaft axis, a distal head, a rotary drive member, and a distal head lock member movable between a first position where the distal head is unlocked from the shaft and a second position where the distal head is locked to the shaft is disclosed. The motor assembly comprises a motor and a controller configured to operate the motor in first and second operating modes. The distal head comprises an end effector movable between an open configuration and a closed configuration. The distal head is rotated about the shaft axis when the distal head lock member is in the first position and the rotary drive member is actuated. The end effector is moved from the open configuration toward the closed configuration when the distal head lock member is in the second position and the rotary drive member is actuated.

CROSS REFERENCE TO RELATED APPLICATION

This non-provisional application claims the benefit under 35 U.S.C. §119(e) of U.S. Provisional Patent Application Ser. No. 62/955,299,entitled DEVICES AND SYSTEMS FOR ELECTROSURGERY, filed Dec. 30, 2019,the disclosure of which is incorporated by reference herein in itsentirety.

BACKGROUND

The present invention relates to surgical instruments designed to treattissue, including but not limited to surgical instruments that areconfigured to cut and fasten tissue. The surgical instruments mayinclude electrosurgical instruments powered by generators to effecttissue dissecting, cutting, and/or coagulation during surgicalprocedures. The surgical instruments may include instruments that areconfigured to cut and staple tissue using surgical staples and/orfasteners. The surgical instruments may be configured for use in opensurgical procedures, but have applications in other types of surgery,such as laparoscopic, endoscopic, and robotic-assisted procedures andmay include end effectors that are articulatable relative to a shaftportion of the instrument to facilitate precise positioning within apatient.

SUMMARY

In various embodiments, a surgical instrument comprising a motorassembly, a shaft defining a shaft axis, a distal head extending fromthe shaft, a rotary drive member, and a distal head lock member isdisclosed. The distal head is rotatable about the shaft axis. The motorassembly comprises a motor and a motor controller. The motor controlleris configured to operate the motor in a first operating mode and asecond operating mode. The distal head comprises an end effector movablebetween an open configuration and a closed configuration. The rotarydrive member is operably responsive to the motor. The rotary drivemember is operably engaged with the distal head. The distal head lockmember is manually movable between a first position where the distalhead is unlocked from the shaft and a second position where the distalhead is locked to the shaft. The distal head is rotated about the shaftaxis relative to the shaft when the distal head lock member is in thefirst position and the rotary drive member is actuated. The end effectoris moved from the open configuration toward the closed configurationwhen the distal head lock member is in the second position and therotary drive member is actuated.

In various embodiments, a surgical instrument comprising a motorassembly, a shaft defining a shaft axis, an end effector extending fromthe shaft, a rotary drive member, and a mode selector member isdisclosed. The motor assembly comprises a motor and a motor controller.The motor controller is configured to operate the motor in a firstoperating mode and a second operating mode. The end effector isconfigured to perform a first end effector function and a second endeffector function that is different than the first end effectorfunction. The rotary drive member is operably responsive to the motor.The rotary drive member is operably engaged with the end effector andconfigured to selectively perform the first end effector function andthe second end effector function. The mode selector member is operablyengaged with the end effector and the rotary drive member. The modeselector member is manually movable between a first position where theend effector performs the first end effector function when the rotarydrive member is actuated by the motor and a second position where theend effector performs the second end effector function when the rotarydrive member is actuated by the motor. The motor is configured tooperate in the first operating mode when the mode selector member is inthe first position. The motor is configured to operate in the secondoperating mode when the mode selector member is in the second position.

In various embodiments, a surgical instrument comprising a motor, ashaft defining a shaft axis, an end effector extending from the shaft, arotary drive member operably responsive to the motor, a lock memberoperably engaged with the rotary drive member, and a toggle memberoperably engaged with the lock member is disclosed. The rotary drivemember is operably engaged with the end effector and configured toselectively perform a first end effector function and a second endeffector function that is different than the first end effectorfunction. The lock member is movable between a first position where theend effector is locked to the shaft and a second position where the endeffector is unlocked from the shaft. The toggle member is rotatableabout the shaft axis to move the lock member between the first positionand the second position. The rotary drive member is configured toperform the first end effector function when the lock member is in thefirst position. The rotary drive member is configured to perform thesecond end effector function when the lock member is in the secondposition.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the various aspects are set forth withparticularity in the appended claims. The described aspects, however,both as to organization and methods of operation, may be best understoodby reference to the following description, taken in conjunction with theaccompanying drawings in which:

FIG. 1 illustrates an example of a generator for use with a surgicalsystem, in accordance with at least one aspect of the presentdisclosure;

FIG. 2 illustrates one form of a surgical system comprising a generatorand an electrosurgical instrument usable therewith, in accordance withat least one aspect of the present disclosure;

FIG. 3 illustrates a schematic diagram of a surgical instrument or tool,in accordance with at least one aspect of the present disclosure;

FIG. 4 is a side elevational view of an end effector for use with anelectrosurgical instrument in accordance with at least one aspect of thepresent disclosure;

FIG. 5 is a side elevational view of the end effector of FIG. 4 in aclosed configuration;

FIG. 6 is a plan view of one of the jaws of the end effector of FIG. 4 ;

FIG. 7 is a side elevational view of another one of the jaws of the endeffector of FIG. 4 ;

FIG. 8 is a side elevational view of an end effector for use with anelectrosurgical instrument in accordance with at least one aspect of thepresent disclosure;

FIG. 9 is an end view of the end effector of FIG. 8 ;

FIG. 10 is an exploded perspective view of one of the jaws of the endeffector of FIG. 8 ;

FIG. 11 is a cross-sectional end view of an end effector for use with anelectrosurgical instrument in accordance with at least one aspect of thepresent disclosure;

FIG. 12 is a cross-sectional end view of an end effector for use with anelectrosurgical instrument in accordance with at least one aspect of thepresent disclosure;

FIG. 13 is a cross-sectional end view of an end effector for use with anelectrosurgical instrument in accordance with at least one aspect of thepresent disclosure;

FIG. 14 is a cross-sectional end view of an end effector for use with anelectrosurgical instrument in accordance with at least one aspect of thepresent disclosure;

FIG. 15 is a cross-sectional end view of an end effector for use with anelectrosurgical instrument in accordance with at least one aspect of thepresent disclosure;

FIG. 16 is a cross sectional end view of an end effector for use with anelectrosurgical instrument in accordance with at least one aspect of thepresent disclosure;

FIG. 17 is a cross-sectional end view of an end effector for use with anelectrosurgical instrument in accordance with at least one aspect of thepresent disclosure;

FIG. 18 is a cross-sectional end view of an end effector for use with anelectrosurgical instrument in accordance with at least one aspect of thepresent disclosure;

FIG. 19 is a graph illustrating a power scheme for coagulating andcutting a tissue treatment region in a treatment cycle applied by an endeffector, in accordance with at least one aspect of the presentdisclosure;

FIG. 20 is a perspective view of a surgical instrument comprising aflexible wiring assembly in accordance with at least one aspect of thepresent disclosure;

FIG. 21 is a partial side elevational of the flexible wiring assembly ofFIG. 20 in a relaxed configuration;

FIG. 22 is a partial side elevational view of the flexible wiringassembly of FIG. 20 in a stretched configuration;

FIG. 23 is a perspective view of a wiring harness and an inductivesensor for use with a surgical instrument in accordance with at leastone aspect of the present disclosure;

FIG. 24 is a perspective view of a flexible wiring harness and aninductive sensor for use with a surgical instrument in accordance withat least one aspect of the present disclosure;

FIG. 25 is an enlarged view of portion of the flexible wiring harness ofFIG. 24 ;

FIG. 26 is a perspective view of a surgical instrument comprising amanual toggle member in accordance with at least one aspect of thepresent disclosure;

FIG. 27 is an end cross-sectional view of the manual toggle of FIG. 26illustrating the manual toggle member in a rotated position;

FIG. 28 is an end cross-sectional view of the manual toggle member ofFIG. 27 in a centered position;

FIG. 29 is a schematic diagram of the surgical instrument of FIG. 26 ;

FIG. 30 is a perspective exploded view of the surgical instrument ofFIG. 26 illustrating the manual toggle member and an elongate shaft;

FIG. 31 is a plan view of the elongate shaft of FIG. 30 illustrating theposition of the elongate shaft when the manual rocker member is in acentered position;

FIG. 32 is a plan view of the elongate shaft of FIG. 30 illustrating theposition of the elongate shaft when the manual toggle member is rotatedcounter clockwise;

FIG. 33 is a plan view of the elongate shaft of FIG. 30 illustrating theposition of the elongate shaft when the manual toggle member is rotatedclockwise;

FIG. 34 is a schematic diagram of a surgical system in accordance withat least one aspect of the present disclosure;

FIG. 35 is a graph of the battery recharge rate, battery chargepercentage, power draw, and motor velocity of the surgical system ofFIG. 34 over time;

FIG. 36 is a side view of a surgical system including a surgicalinstrument, a monopolar power generator, and a bipolar power generatorin accordance with at least one aspect of the present disclosure; and

FIG. 37 is a schematic of the battery charge percentage and motor torqueof multiple surgical instrument systems over time in accordance with atleast one aspect of the present disclosure.

DESCRIPTION

Applicant of the present application owns the following U.S. PatentApplications that were filed on even date herewith and which are eachherein incorporated by reference in their respective entireties:

-   Ser. No. 16/885,813, entitled METHOD FOR AN ELECTROSURGICAL    PROCEDURE;-   Ser. No. 16/885,820, entitled ARTICULATABLE SURGICAL INSTRUMENT;-   Ser. No. 16/885,823, entitled SURGICAL INSTRUMENT WITH JAW ALIGNMENT    FEATURES;-   Ser. No. 16/885,826, entitled SURGICAL INSTRUMENT WITH ROTATABLE AND    ARTICULATABLE SURGICAL END EFFECTOR;-   Ser. No. 16/885,838, entitled ELECTROSURGICAL INSTRUMENT WITH    ASYNCHRONOUS ENERGIZING ELECTRODES;-   Ser. No. 16/885,851, entitled ELECTROSURGICAL INSTRUMENT WITH    ELECTRODES BIASING SUPPORT;-   Ser. No. 16/885,860, entitled ELECTROSURGICAL INSTRUMENT WITH    FLEXIBLE WIRING ASSEMBLIES;-   Ser. No. 16/885,870, entitled ELECTROSURGICAL SYSTEMS WITH    INTEGRATED AND EXTERNAL POWER SOURCES;-   Ser. No. 16/885,873, entitled ELECTROSURGICAL INSTRUMENTS WITH    ELECTRODES HAVING ENERGY FOCUSING FEATURES;-   Ser. No. 16/885,879, entitled ELECTROSURGICAL INSTRUMENTS WITH    ELECTRODES HAVING VARIABLE ENERGY DENSITIES;-   Ser. No. 16/885,881, entitled ELECTROSURGICAL INSTRUMENT WITH    MONOPOLAR AND BIPOLAR ENERGY CAPABILITIES;-   Ser. No. 16/885,888, entitled ELECTROSURGICAL END EFFECTORS WITH    THERMALLY INSULATIVE AND THERMALLY CONDUCTIVE PORTIONS;-   Ser. No. 16/885,893, entitled ELECTROSURGICAL INSTRUMENT WITH    ELECTRODES OPERABLE IN BIPOLAR AND MONOPOLAR MODES;-   Ser. No. 16/885,900, entitled ELECTROSURGICAL INSTRUMENT FOR    DELIVERING BLENDED ENERGY MODALITIES TO TISSUE;-   Ser. No. 16/885,917, entitled CONTROL PROGRAM ADAPTATION BASED ON    DEVICE STATUS AND USER INPUT;-   Ser. No. 16/885,923, entitled CONTROL PROGRAM FOR MODULAR    COMBINATION ENERGY DEVICE; and-   Ser. No. 16/885,931, entitled SURGICAL SYSTEM COMMUNICATION    PATHWAYS.

Applicant of the present application owns the following U.S. ProvisionalPatent Applications that were filed on Dec. 30, 2019, the disclosure ofeach of which is herein incorporated by reference in its entirety:

-   U.S. Provisional Patent Application Ser. No. 62/955,294, entitled    USER INTERFACE FOR SURGICAL INSTRUMENT WITH COMBINATION ENERGY    MODALITY END-EFFECTOR;-   U.S. Provisional Patent Application Ser. No. 62/955,292, entitled    COMBINATION ENERGY MODALITY END-EFFECTOR; and-   U.S. Provisional Patent Application Ser. No. 62/955,306, entitled    SURGICAL INSTRUMENT SYSTEMS.

Applicant of the present application owns the following U.S. PatentApplications, the disclosure of each of which is herein incorporated byreference in its entirety:

-   U.S. patent application Ser. No. 16/209,395, titled METHOD OF HUB    COMMUNICATION, now U.S. Patent Application Publication No.    2019/0201136;-   U.S. patent application Ser. No. 16/209,403, titled METHOD OF CLOUD    BASED DATA ANALYTICS FOR USE WITH THE HUB, now U.S. Patent    Application Publication No. 2019/0206569;-   U.S. patent application Ser. No. 16/209,407, titled METHOD OF    ROBOTIC HUB COMMUNICATION, DETECTION, AND CONTROL, now U.S. Patent    Application Publication No. 2019/0201137;-   U.S. patent application Ser. No. 16/209,416, titled METHOD OF HUB    COMMUNICATION, PROCESSING, DISPLAY, AND CLOUD ANALYTICS, now U.S.    Patent Application Publication No. 2019/0206562;-   U.S. patent application Ser. No. 16/209,423, titled METHOD OF    COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY    DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS, now U.S.    Patent Application Publication No. 2019/0200981;-   U.S. patent application Ser. No. 16/209,427, titled METHOD OF USING    REINFORCED FLEXIBLE CIRCUITS WITH MULTIPLE SENSORS TO OPTIMIZE    PERFORMANCE OF RADIO FREQUENCY DEVICES, now U.S. Patent Application    Publication No. 2019/0208641;-   U.S. patent application Ser. No. 16/209,433, titled METHOD OF    SENSING PARTICULATE FROM SMOKE EVACUATED FROM A PATIENT, ADJUSTING    THE PUMP SPEED BASED ON THE SENSED INFORMATION, AND COMMUNICATING    THE FUNCTIONAL PARAMETERS OF THE SYSTEM TO THE HUB, now U.S. Patent    Application Publication No. 2019/0201594;-   U.S. patent application Ser. No. 16/209,447, titled METHOD FOR SMOKE    EVACUATION FOR SURGICAL HUB, now U.S. Patent Application Publication    No. 2019/0201045;-   U.S. patent application Ser. No. 16/209,453, titled METHOD FOR    CONTROLLING SMART ENERGY DEVICES, now U.S. Patent Application    Publication No. 2019/0201046;-   U.S. patent application Ser. No. 16/209,458, titled METHOD FOR SMART    ENERGY DEVICE INFRASTRUCTURE, now U.S. Patent Application    Publication No. 2019/0201047;-   U.S. patent application Ser. No. 16/209,465, titled METHOD FOR    ADAPTIVE CONTROL SCHEMES FOR SURGICAL NETWORK CONTROL AND    INTERACTION, now U.S. Patent Application Publication No.    2019/0206563;-   U.S. patent application Ser. No. 16/209,478, titled METHOD FOR    SITUATIONAL AWARENESS FOR SURGICAL NETWORK OR SURGICAL NETWORK    CONNECTED DEVICE CAPABLE OF ADJUSTING FUNCTION BASED ON A SENSED    SITUATION OR USAGE, now U.S. Patent Application Publication No.    2019/0104919;-   U.S. patent application Ser. No. 16/209,490, titled METHOD FOR    FACILITY DATA COLLECTION AND INTERPRETATION, now U.S. Patent    Application Publication No. 2019/0206564;-   U.S. patent application Ser. No. 16/209,491, titled METHOD FOR    CIRCULAR STAPLER CONTROL ALGORITHM ADJUSTMENT BASED ON SITUATIONAL    AWARENESS, now U.S. Patent Application Publication No. 2019/0200998;-   U.S. patent application Ser. No. 16/562,123, titled METHOD FOR    CONSTRUCTING AND USING A MODULAR SURGICAL ENERGY SYSTEM WITH    MULTIPLE DEVICES;-   U.S. patent application Ser. No. 16/562,135, titled METHOD FOR    CONTROLLING AN ENERGY MODULE OUTPUT;-   U.S. patent application Ser. No. 16/562,144, titled METHOD FOR    CONTROLLING A MODULAR ENERGY SYSTEM USER INTERFACE; and-   U.S. patent application Ser. No. 16/562,125, titled METHOD FOR    COMMUNICATING BETWEEN MODULES AND DEVICES IN A MODULAR SURGICAL    SYSTEM.

Before explaining various aspects of an electrosurgical system indetail, it should be noted that the illustrative examples are notlimited in application or use to the details of construction andarrangement of parts illustrated in the accompanying drawings anddescription. The illustrative examples may be implemented orincorporated in other aspects, variations, and modifications, and may bepracticed or carried out in various ways. Further, unless otherwiseindicated, the terms and expressions employed herein have been chosenfor the purpose of describing the illustrative examples for theconvenience of the reader and are not for the purpose of limitationthereof. Also, it will be appreciated that one or more of thefollowing-described aspects, expressions of aspects, and/or examples,can be combined with any one or more of the other following-describedaspects, expressions of aspects, and/or examples.

Various aspects are directed to electrosurgical systems that includeelectrosurgical instruments powered by generators to effect tissuedissecting, cutting, and/or coagulation during surgical procedures. Theelectrosurgical instruments may be configured for use in open surgicalprocedures, but has applications in other types of surgery, such aslaparoscopic, endoscopic, and robotic-assisted procedures.

As described below in greater detail, an electrosurgical instrumentgenerally includes a shaft having a distally-mounted end effector (e.g.,one or more electrodes). The end effector can be positioned against thetissue such that electrical current is introduced into the tissue.Electrosurgical instruments can be configured for bipolar or monopolaroperation. During bipolar operation, current is introduced into andreturned from the tissue by active and return electrodes, respectively,of the end effector. During monopolar operation, current is introducedinto the tissue by an active electrode of the end effector and returnedthrough a return electrode (e.g., a grounding pad) separately located ona patient's body. Heat generated by the current flowing through thetissue may form hemostatic seals within the tissue and/or betweentissues and thus may be particularly useful for sealing blood vessels,for example.

FIG. 1 illustrates an example of a generator 900 configured to delivermultiple energy modalities to a surgical instrument. The generator 900provides RF and/or ultrasonic signals for delivering energy to asurgical instrument. The generator 900 comprises at least one generatoroutput that can deliver multiple energy modalities (e.g., ultrasonic,bipolar or monopolar RF, irreversible and/or reversible electroporation,and/or microwave energy, among others) through a single port, and thesesignals can be delivered separately or simultaneously to an end effectorto treat tissue. The generator 900 comprises a processor 902 coupled toa waveform generator 904. The processor 902 and waveform generator 904are configured to generate a variety of signal waveforms based oninformation stored in a memory coupled to the processor 902, not shownfor clarity of disclosure. The digital information associated with awaveform is provided to the waveform generator 904 which includes one ormore DAC circuits to convert the digital input into an analog output.The analog output is fed to an amplifier 906 for signal conditioning andamplification. The conditioned and amplified output of the amplifier 906is coupled to a power transformer 908. The signals are coupled acrossthe power transformer 908 to the secondary side, which is in the patientisolation side. A first signal of a first energy modality is provided tothe surgical instrument between the terminals labeled ENERGY₁ andRETURN. A second signal of a second energy modality is coupled across acapacitor 910 and is provided to the surgical instrument between theterminals labeled ENERGY₂ and RETURN. It will be appreciated that morethan two energy modalities may be output and thus the subscript “n” maybe used to designate that up to n ENERGY_(n) terminals may be provided,where n is a positive integer greater than 1. It also will beappreciated that up to “n” return paths RETURN_(n) may be providedwithout departing from the scope of the present disclosure.

A first voltage sensing circuit 912 is coupled across the terminalslabeled ENERGY₁ and the RETURN path to measure the output voltagetherebetween. A second voltage sensing circuit 924 is coupled across theterminals labeled ENERGY₂ and the RETURN path to measure the outputvoltage therebetween. A current sensing circuit 914 is disposed inseries with the RETURN leg of the secondary side of the powertransformer 908 as shown to measure the output current for either energymodality. If different return paths are provided for each energymodality, then a separate current sensing circuit should be provided ineach return leg. The outputs of the first and second voltage sensingcircuits 912, 924 are provided to respective isolation transformers 928,922 and the output of the current sensing circuit 914 is provided toanother isolation transformer 916. The outputs of the isolationtransformers 916, 928, 922 on the primary side of the power transformer908 (non-patient isolated side) are provided to a one or more ADCcircuit 926. The digitized output of the ADC circuit 926 is provided tothe processor 902 for further processing and computation. The outputvoltages and output current feedback information can be employed toadjust the output voltage and current provided to the surgicalinstrument and to compute output impedance, among other parameters.Input/output communications between the processor 902 and patientisolated circuits is provided through an interface circuit 920. Sensorsalso may be in electrical communication with the processor 902 by way ofthe interface circuit 920.

In one aspect, the impedance may be determined by the processor 902 bydividing the output of either the first voltage sensing circuit 912coupled across the terminals labeled ENERGY₁/RETURN or the secondvoltage sensing circuit 924 coupled across the terminals labeledENERGY₂/RETURN by the output of the current sensing circuit 914 disposedin series with the RETURN leg of the secondary side of the powertransformer 908. The outputs of the first and second voltage sensingcircuits 912, 924 are provided to separate isolations transformers 928,922 and the output of the current sensing circuit 914 is provided toanother isolation transformer 916. The digitized voltage and currentsensing measurements from the ADC circuit 926 are provided the processor902 for computing impedance. As an example, the first energy modalityENERGY₁ may be RF monopolar energy and the second energy modalityENERGY₂ may be RF bipolar energy. Nevertheless, in addition to bipolarand monopolar RF energy modalities, other energy modalities includeultrasonic energy, irreversible and/or reversible electroporation and/ormicrowave energy, among others. Also, although the example illustratedin FIG. 1 shows a single return path RETURN may be provided for two ormore energy modalities, in other aspects, multiple return pathsRETURN_(n) may be provided for each energy modality ENERGY_(n).

As shown in FIG. 1 , the generator 900 comprising at least one outputport can include a power transformer 908 with a single output and withmultiple taps to provide power in the form of one or more energymodalities, such as ultrasonic, bipolar or monopolar RF, irreversibleand/or reversible electroporation, and/or microwave energy, amongothers, for example, to the end effector depending on the type oftreatment of tissue being performed. For example, the generator 900 candeliver energy with higher voltage and lower current to drive anultrasonic transducer, with lower voltage and higher current to drive RFelectrodes for sealing tissue, or with a coagulation waveform for spotcoagulation using either monopolar or bipolar RF electrosurgicalelectrodes. The output waveform from the generator 900 can be steered,switched, or filtered to provide the frequency to the end effector ofthe surgical instrument. In one example, a connection of RF bipolarelectrodes to the generator 900 output would be preferably locatedbetween the output labeled ENERGY₂ and RETURN. In the case of monopolaroutput, the preferred connections would be active electrode (e.g.,pencil or other probe) to the ENERGY₂ output and a suitable return padconnected to the RETURN output.

Additional details are disclosed in U.S. Patent Application PublicationNo. 2017/0086914, titled TECHNIQUES FOR OPERATING GENERATOR FORDIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICALINSTRUMENTS, which published on Mar. 30, 2017, which is hereinincorporated by reference in its entirety.

FIG. 2 illustrates one form of a surgical system 1000 comprising agenerator 1100 and various surgical instruments 1104, 1106, 1108 usabletherewith, where the surgical instrument 1104 is an ultrasonic surgicalinstrument, the surgical instrument 1106 is an RF electrosurgicalinstrument, and the multifunction surgical instrument 1108 is acombination ultrasonic/RF electrosurgical instrument. The generator 1100is configurable for use with a variety of surgical instruments.According to various forms, the generator 1100 may be configurable foruse with different surgical instruments of different types including,for example, ultrasonic surgical instruments 1104, RF electrosurgicalinstruments 1106, and multifunction surgical instruments 1108 thatintegrate RF and ultrasonic energies delivered simultaneously from thegenerator 1100. Although in the form of FIG. 2 the generator 1100 isshown separate from the surgical instruments 1104, 1106, 1108 in oneform, the generator 1100 may be formed integrally with any of thesurgical instruments 1104, 1106, 1108 to form a unitary surgical system.The generator 1100 comprises an input device 1110 located on a frontpanel of the generator 1100 console. The input device 1110 may compriseany suitable device that generates signals suitable for programming theoperation of the generator 1100. The generator 1100 may be configuredfor wired or wireless communication.

The generator 1100 is configured to drive multiple surgical instruments1104, 1106, 1108. The first surgical instrument is an ultrasonicsurgical instrument 1104 and comprises a handpiece 1105 (HP), anultrasonic transducer 1120, a shaft 1126, and an end effector 1122. Theend effector 1122 comprises an ultrasonic blade 1128 acousticallycoupled to the ultrasonic transducer 1120 and a clamp arm 1140. Thehandpiece 1105 comprises a trigger 1143 to operate the clamp arm 1140and a combination of the toggle buttons 1137, 1134 b, 1134 c to energizeand drive the ultrasonic blade 1128 or other function. The togglebuttons 1137, 1134 b, 1134 c can be configured to energize theultrasonic transducer 1120 with the generator 1100.

The generator 1100 also is configured to drive a second surgicalinstrument 1106. The second surgical instrument 1106 is an RFelectrosurgical instrument and comprises a handpiece 1107 (HP), a shaft1127, and an end effector 1124. The end effector 1124 compriseselectrodes in clamp arms 1145, 1142 b and return through an electricalconductor portion of the shaft 1127. The electrodes are coupled to andenergized by a bipolar energy source within the generator 1100. Thehandpiece 1107 comprises a trigger 1145 to operate the clamp arms 1145,1142 b and an energy button 1135 to actuate an energy switch to energizethe electrodes in the end effector 1124. The second surgical instrument1106 can also be used with a return pad to deliver monopolar energy totissue.

The generator 1100 also is configured to drive a multifunction surgicalinstrument 1108. The multifunction surgical instrument 1108 comprises ahandpiece 1109 (HP), a shaft 1129, and an end effector 1125. The endeffector 1125 comprises an ultrasonic blade 1149 and a clamp arm 1146.The ultrasonic blade 1149 is acoustically coupled to the ultrasonictransducer 1120. The handpiece 1109 comprises a trigger 1147 to operatethe clamp arm 1146 and a combination of the toggle buttons 11310, 1137b, 1137 c to energize and drive the ultrasonic blade 1149 or otherfunction. The toggle buttons 11310, 1137 b, 1137 c can be configured toenergize the ultrasonic transducer 1120 with the generator 1100 andenergize the ultrasonic blade 1149 with a bipolar energy source alsocontained within the generator 1100. Monopolar energy can be deliveredto the tissue in combination with, or separately from, the bipolarenergy.

The generator 1100 is configurable for use with a variety of surgicalinstruments. According to various forms, the generator 1100 may beconfigurable for use with different surgical instruments of differenttypes including, for example, the ultrasonic surgical instrument 1104,the RF electrosurgical instrument 1106, and the multifunction surgicalinstrument 1108 that integrates RF and ultrasonic energies deliveredsimultaneously from the generator 1100. Although in the form of FIG. 2 ,the generator 1100 is shown separate from the surgical instruments 1104,1106, 1108, in another form the generator 1100 may be formed integrallywith any one of the surgical instruments 1104, 1106, 1108 to form aunitary surgical system. As discussed above, the generator 1100comprises an input device 1110 located on a front panel of the generator1100 console. The input device 1110 may comprise any suitable devicethat generates signals suitable for programming the operation of thegenerator 1100. The generator 1100 also may comprise one or more outputdevices 1112. Further aspects of generators for digitally generatingelectrical signal waveforms and surgical instruments are described in USpatent application publication US-2017-0086914-A1, which is hereinincorporated by reference in its entirety.

FIG. 3 illustrates a schematic diagram of a surgical instrument or tool600 comprising a plurality of motor assemblies that can be activated toperform various functions. In the illustrated example, a closure motorassembly 610 is operable to transition an end effector between an openconfiguration and a closed configuration, and an articulation motorassembly 620 is operable to articulate the end effector relative to ashaft assembly. In certain instances, the plurality of motors assembliescan be individually activated to cause firing, closure, and/orarticulation motions in the end effector. The firing, closure, and/orarticulation motions can be transmitted to the end effector through ashaft assembly, for example.

In certain instances, the closure motor assembly 610 includes a closuremotor. The closure 603 may be operably coupled to a closure motor driveassembly 612 which can be configured to transmit closure motions,generated by the motor to the end effector, in particular to displace aclosure member to close to transition the end effector to the closedconfiguration. The closure motions may cause the end effector totransition from an open configuration to a closed configuration tocapture tissue, for example. The end effector may be transitioned to anopen position by reversing the direction of the motor.

In certain instances, the articulation motor assembly 620 includes anarticulation motor that be operably coupled to an articulation driveassembly 622 which can be configured to transmit articulation motions,generated by the motor to the end effector. In certain instances, thearticulation motions may cause the end effector to articulate relativeto the shaft, for example.

One or more of the motors of the surgical instrument 600 may comprise atorque sensor to measure the output torque on the shaft of the motor.The force on an end effector may be sensed in any conventional manner,such as by force sensors on the outer sides of the jaws or by a torquesensor for the motor actuating the jaws.

In various instances, the motor assemblies 610, 620 include one or moremotor drivers that may comprise one or more H-Bridge FETs. The motordrivers may modulate the power transmitted from a power source 630 to amotor based on input from a microcontroller 640 (the “controller”), forexample, of a control circuit 601. In certain instances, themicrocontroller 640 can be employed to determine the current drawn bythe motor, for example.

In certain instances, the microcontroller 640 may include amicroprocessor 642 (the “processor”) and one or more non-transitorycomputer-readable mediums or memory units 644 (the “memory”). In certaininstances, the memory 644 may store various program instructions, whichwhen executed may cause the processor 642 to perform a plurality offunctions and/or calculations described herein. In certain instances,one or more of the memory units 644 may be coupled to the processor 642,for example. In various aspects, the microcontroller 640 may communicateover a wired or wireless channel, or combinations thereof.

In certain instances, the power source 630 can be employed to supplypower to the microcontroller 640, for example. In certain instances, thepower source 630 may comprise a battery (or “battery pack” or “powerpack”), such as a lithium-ion battery, for example. In certaininstances, the battery pack may be configured to be releasably mountedto a handle for supplying power to the surgical instrument 600. A numberof battery cells connected in series may be used as the power source630. In certain instances, the power source 630 may be replaceableand/or rechargeable, for example.

In various instances, the processor 642 may control a motor driver tocontrol the position, direction of rotation, and/or velocity of a motorof the assemblies 610, 620. In certain instances, the processor 642 cansignal the motor driver to stop and/or disable the motor. It should beunderstood that the term “processor” as used herein includes anysuitable microprocessor, microcontroller, or other basic computingdevice that incorporates the functions of a computer's centralprocessing unit (CPU) on an integrated circuit or, at most, a fewintegrated circuits. The processor 642 is a multipurpose, programmabledevice that accepts digital data as input, processes it according toinstructions stored in its memory, and provides results as output. It isan example of sequential digital logic, as it has internal memory.Processors operate on numbers and symbols represented in the binarynumeral system.

In one instance, the processor 642 may be any single-core or multicoreprocessor such as those known under the trade name ARM Cortex by TexasInstruments. In certain instances, the microcontroller 620 may be an LM4F230H5QR, available from Texas Instruments, for example. In at leastone example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4FProcessor Core comprising an on-chip memory of 256 KB single-cycle flashmemory, or other non-volatile memory, up to 40 MHz, a prefetch buffer toimprove performance above 40 MHz, a 32 KB single-cycle SRAM, an internalROM loaded with StellarisWare® software, a 2 KB EEPROM, one or more PWMmodules, one or more QEI analogs, one or more 12-bit ADCs with 12 analoginput channels, among other features that are readily available for theproduct datasheet. Other microcontrollers may be readily substituted foruse with the surgical instrument 600. Accordingly, the presentdisclosure should not be limited in this context.

In certain instances, the memory 644 may include program instructionsfor controlling each of the motors of the surgical instrument 600. Forexample, the memory 644 may include program instructions for controllingthe closure motor and the articulation motor. Such program instructionsmay cause the processor 642 to control the closure and articulationfunctions in accordance with inputs from algorithms or control programsof the surgical instrument 600.

In certain instances, one or more mechanisms and/or sensors such as, forexample, sensors 645 can be employed to alert the processor 642 to theprogram instructions that should be used in a particular setting. Forexample, the sensors 645 may alert the processor 642 to use the programinstructions associated with closing and articulating the end effector.In certain instances, the sensors 645 may comprise position sensorswhich can be employed to sense the position of a closure actuator, forexample. Accordingly, the processor 642 may use the program instructionsassociated with closing the end effector to activate the motor of theclosure drive assembly 620 if the processor 642 receives a signal fromthe sensors 630 indicative of actuation of the closure actuator.

In some examples, the motors may be brushless DC electric motors, andthe respective motor drive signals may comprise a PWM signal provided toone or more stator windings of the motors. Also, in some examples, themotor drivers may be omitted and the control circuit 601 may generatethe motor drive signals directly.

It is common practice during various laparoscopic surgical procedures toinsert a surgical end effector portion of a surgical instrument througha trocar that has been installed in the abdominal wall of a patient toaccess a surgical site located inside the patient's abdomen. In itssimplest form, a trocar is a pen-shaped instrument with a sharptriangular point at one end that is typically used inside a hollow tube,known as a cannula or sleeve, to create an opening into the body throughwhich surgical end effectors may be introduced. Such arrangement formsan access port into the body cavity through which surgical end effectorsmay be inserted. The inner diameter of the trocar's cannula necessarilylimits the size of the end effector and drive-supporting shaft of thesurgical instrument that may be inserted through the trocar.

Regardless of the specific type of surgical procedure being performed,once the surgical end effector has been inserted into the patientthrough the trocar cannula, it is often necessary to move the surgicalend effector relative to the shaft assembly that is positioned withinthe trocar cannula in order to properly position the surgical endeffector relative to the tissue or organ to be treated. This movement orpositioning of the surgical end effector relative to the portion of theshaft that remains within the trocar cannula is often referred to as“articulation” of the surgical end effector. A variety of articulationjoints have been developed to attach a surgical end effector to anassociated shaft in order to facilitate such articulation of thesurgical end effector. As one might expect, in many surgical procedures,it is desirable to employ a surgical end effector that has as large arange of articulation as possible.

Due to the size constraints imposed by the size of the trocar cannula,the articulation joint components must be sized so as to be freelyinsertable through the trocar cannula. These size constraints also limitthe size and composition of various drive members and components thatoperably interface with the motors and/or other control systems that aresupported in a housing that may be handheld or comprise a portion of alarger automated system. In many instances, these drive members mustoperably pass through the articulation joint to be operably coupled toor operably interface with the surgical end effector. For example, onesuch drive member is commonly employed to apply articulation controlmotions to the surgical end effector. During use, the articulation drivemember may be unactuated to position the surgical end effector in anunarticulated position to facilitate insertion of the surgical endeffector through the trocar and then be actuated to articulate thesurgical end effector to a desired position once the surgical endeffector has entered the patient.

Thus, the aforementioned size constraints form many challenges todeveloping an articulation system that can effectuate a desired range ofarticulation, yet accommodate a variety of different drive systems thatare necessary to operate various features of the surgical end effector.Further, once the surgical end effector has been positioned in a desiredarticulated position, the articulation system and articulation jointmust be able to retain the surgical end effector in that position duringthe actuation of the end effector and completion of the surgicalprocedure. Such articulation joint arrangements must also be able towithstand external forces that are experienced by the end effectorduring use.

FIGS. 4-7 depict an electrosurgical instrument 30100 comprising a firstjaw 30110, a second jaw 30120, and a monopolar wedge electrode 30130.The first jaw 30110 and the second jaw 30120 are movable between an openposition and a closed position and are configured to grasp tissue Ttherebetween. Each of the first jaw 30110 and the second jaw 30120comprises an electrode that is electrically coupled to a powergenerator. Example suitable power generators 900, 1100 are describedabove in connection with FIGS. 1 and 2 . The power generator isconfigured to supply power to cause the electrodes of the first andsecond jaws 30110, 30120 to cooperatively deliver bipolar energy to thegrasped tissue to seal, coagulate, and/or cauterize the tissue in abipolar tissue-treatment cycle.

In use, the first jaw 30110 and the second jaw 30120 may deflect awayfrom each other at their distal ends when the tissue T is graspedtherebetween. When the tissue T is grasped, the tissue T exerts a forceon the first jaw 30110 and the second jaw 30120 causing the jaws todeflect away from each other. More specifically, the gap B between thefirst jaw 30110 and the second jaw 30120 toward the distal end of thejaws may be greater than the gap A between the first jaw 30110 and thesecond jaw 30120 toward the proximal end of the jaws when tissue T isgrasped between the first jaw 30110 and the second jaw 30120.

Further to the above, the end effector 30100 of the electrosurgicalinstrument 30100 further includes monopolar wedge electrode 30130 iselectrically connected to the power generator (e.g. power generators900, 1100) and configured to cut the tissue T positioned between thefirst jaw 30110 and the second jaw 30120 when energized by the powergenerator. In the illustrated embodiment, the monopolar wedge electrode30130 is affixed to the second jaw 30120; however, other embodiments areenvisioned where the monopolar wedge electrode 30130 is affixed to thefirst jaw 30110. The monopolar wedge electrode 30130 is thinner at itsproximal end and thicker at its distal end (see FIG. 7 ) to compensatefor the variable gap defined between the first jaw 30110 and the secondjaw 30120. In other words, the monopolar wedge electrode 30130 comprisesa wedge shape. As previously discussed, the variable gap defined betweenthe jaws 30110, 30120 is due, at least in part, to the deflection of thejaws 30110, 30120 when tissue is grasped therebetween. In at least oneembodiment, the monopolar wedge electrode 30130 comprises a compliantflex circuit substrate 30132. The compliant flex circuit substrate 30132is configured to bend and/or flex longitudinally to compensate for thedeflection of the first jaw 30110 and the second jaw 30120 when tissueis grasped between the first and second jaws 30110, 30120.

In various examples, the monopolar wedge electrode 30130 includes anelectrically conductive member 30134 disposed centrally along a lengthof the compliant flex circuit substrate 30132. In the illustratedexample, the electrically conductive member 30134 is disposed onto thecompliant flex circuit substrate 30132 where at least a portion thereofis exposed through a top surface of the compliant flex circuit substrate30132. In certain examples, portions of the electrically conductivemember 30134 are exposed while other portions are covered by thecompliant flex circuit substrate 30132.

In examples where the jaws 30110, 30120 comprise a curved shape, themonopolar wedge electrode 30130 extends longitudinally in a similarcurved profile. Furthermore, the monopolar wedge electrode 30130graduates from a larger width to a smaller width as it extendslongitudinally. Accordingly, a first width of the monopolar wedgeelectrode 30130 near a proximal end thereof is greater than a secondwidth near a distal end thereof, as illustrated in FIG. 6 . In otherexamples, a first width of a monopolar wedge electrode near a proximalend thereof can be smaller than a second width near a distal endthereof.

In the illustrated example, the distal end of the electricallyconductive member 30134 is proximal to the distal end of the compliantflex circuit substrate 30132, and the distal end of the compliant flexcircuit substrate 30132 is proximal to the distal end of the jaw 30130.In other examples, however, the distal ends of the jaw 30130, theelectrically conductive member 30134 and the compliant flex circuitsubstrate 30132 are united at one position.

FIGS. 8-10 depict an electrosurgical instrument 30200 comprising a firstjaw 30210, a second jaw 30220, and a monopolar electrode 30230. Thefirst jaw 30210 and the second jaw 30220 are movable between an openposition and a closed position, wherein tissue is configured to bepositioned therebetween. The first jaw 30210 and the second jaw 30220are comprised of metal and can be coated with a dielectric material. Inat least one embodiment, the first jaw 30210 and the second jaw 30220are comprised of stainless steel and are coated with a shrink tube. Invarious aspects, the jaws 30210, 30220 define bipolar electrodes thatare electrically isolated from the monopolar electrode 30230.

The first jaw 30210 comprises a first compliant member 30240 positionedaround the first jaw 30210 and the second jaw 30220 comprises a secondcompliant member 30250 positioned around the second jaw 30220. Thecompliant members 30240, 30250 comprise a deformable dielectric materialthat is compressible to enhance contact with tissue when tissue ispositioned between the first jaw 30210 and the second jaw 30220. In atleast one embodiment, the compliant members 30240, 30250 comprisesilicone and/or rubber.

Further to the above, the monopolar electrode 30230 is utilized to cuttissue positioned between the first jaw 30210 and the second jaw 30220when the monopolar electrode 30230 is energized by a power generator(e.g. generators 1100, 900). The monopolar electrode 30230 comprises awire that extends along the first jaw 30210 and into the first compliantmember 30240. The monopolar electrode 30230 exits the first compliantmember 20140 through a proximal opening 30242 in the first compliantmember 30240, extends along the exterior of the first compliant member30240, and then re-enters the first compliant member 20140 through adistal opening 30244 in the first compliant member 30240. Thisarrangement permits a central portion 30232 of the monopolar electrode30230 to bend and/or flex when tissue is grasped between the first jaw30210 and the second jaw 30220. Further, the central portion 30232 ofthe monopolar electrode 30230 is reinforced by the first compliantmember 30240 along its length. Stated another way, the first compliantmember 30240 applies a biasing force to the central portion 30232 of themonopolar electrode 30230 toward the second jaw 30220. The firstcompliant member 30240 increases the pressure exerted by the monopolarelectrode 30230 on the tissue to improve the cutting ability of themonopolar electrode 30230 when the first jaw 30210 and the second jaw30220 grasp tissue therebetween.

In various aspects, the monopolar electrode 30230 can be comprised of ametal such as, for example, stainless steel, titanium, or any othersuitable metal. The exposed surface of the monopolar electrode 30230 canhave a bare metal finish, or can be coated with a thin dielectricmaterial such as, for example, PTFE. In various aspects, the coating canbe skived to reveal a thin metal strip defining an electricallyconductive surface.

FIG. 11 depicts a surgical instrument 30300 comprising a first jaw30310, a second jaw 30320, and a monopolar electrode 30330. The firstjaw 30310 and the second jaw 30320 are movable between an open positionand a closed position to grasp tissue T therebetween. The first jaw30310 comprises a first bipolar electrode and the second jaw 30320comprises a second bipolar electrode. The first and second bipolarelectrodes cooperate to delivery bipolar energy to cauterize and/or sealtissue grasped between the first and second jaws 30310, 30320 in abipolar tissue-treatment cycle.

Further to the above, the first jaw 30310 comprises a first tissuecontacting surface 30314 and the second jaw 30320 comprises a secondtissue contacting surface 30324. The first jaw 30310 comprises a firstrecess 30312 configured to receive a first compliant or biasing member30340 therein. The first biasing member 30340 is configured to bias thetissue T toward the second jaw 30320 when the tissue T is graspedbetween the first jaw 30310 and the second jaw 30320. The second jawcomprises a second recess 30322 configured to receive a second compliantor biasing member 30350 and the monopolar electrode 30330 therein. Thesecond biasing member 30350 is configured to bias the monopolarelectrode 30330 and the tissue T toward the first jaw 30310 when thetissue T is grasped between the first jaw 30310 and the second jaw30320.

Further to the above, the first recess 30312 and the second recess 30322are sized and shaped to receive the first biasing member 30340, thesecond biasing member 30350, and the monopolar electrode 30330 to ensurethe first jaw 30310 and the second jaw 30320 can be fully closed. Inother words, when the first jaw 30310 and the second jaw 30320 are inthe closed position, the first tissue-contacting surface 30314 and thesecond tissue-contacting surface 30324 contact one another when notissue T is positioned therebetween. However, other embodiments areenvisioned where a gap is defined between the first tissue-contactingsurface 30314 and the second tissue-contacting surface 30324 when thefirst jaw 30310 and the second jaw 30320 are in the closed position whentissue T is positioned therebetween and/or when tissue T is notpositioned therebetween. In any event, the first recess 30312 and thesecond recess 30322 are sized and/or shaped such that the monopolarelectrode 30330 extends above the second tissue-contacting surface 30324and into the first recess 30312 of the first jaw 30310 to increase theability of the first jaw 30310 and the second jaw 30320 to fully close.The first and second recesses 30312, 30322 comprise an electricallyisolative material to electrically isolate the monopolar electrode 30330from the first and second jaws 30310, 30320. However, other embodimentsare envisioned where the first and second recesses 30312, 30322 do notelectrically isolate the monopolar electrode 30330 from the first andsecond jaws 30310, 30320. The monopolar electrode 30330 comprises anindependent wiring connection to the control housing of the surgicalinstrument 30300. The independent wiring connection allows the monopolarelectrode 30330 to be energized independent of the first and secondelectrodes of the first and second jaws 30310, 30320 to permit cuttingand/or sealing operations to be performed independent of one another. Inat least one embodiment, the control housing of the surgical instrument30300 prevents the monopolar electrode 30330 from being energized untilthe first and second electrodes of the first and second jaws 30310,30320 have been energized to prevent cutting of tissue T that has notbeen cauterized and/or sealed.

FIG. 12 illustrates a surgical end effector 30400 for use with anelectrosurgical instrument. The end effector 30400 comprises a first jawincluding a first bipolar electrode 30410, a second jaw including asecond bipolar electrode 30420, and a monopolar electrode 30430. Thefirst bipolar electrode 30410 and the second bipolar electrode 30420 areat least partially surrounded by a compliant member and/or a compliantinsulator 30440. The compliant insulator 30440 can comprise rubber,silicone, Polytetrafluoroethylene (PTFE) tubing, and/or combinationsthereof. The monopolar electrode 30430 is affixed to the compliantinsulator 30440 of the first bipolar electrode 30410. Thus, themonopolar electrode 30430 is electrically insulated from the firstbipolar electrode 30410. In at least one embodiment, the compliantinsulator 30440 surrounding the first electrode 30410 comprises a rigid,or at least substantially rigid, PTFE tubing and the second compliantinsulator 30440 surrounding the second electrode 30420 comprises asilicone and/or rubber material. Other embodiments are envisioned withdifferent combinations of PTFE tubing, rubber, and/or silicone,positioned at least partially around the first bipolar electrode 30410and the second bipolar electrode 30420, for example.

FIG. 13 illustrates a surgical end effector 30500 for use with anelectrosurgical instrument. The surgical end effector comprises a firstjaw 30510 and a second jaw 30520 movable between open and closedpositions to grasp tissue therebetween. The first jaw 30510 is at leastpartially surrounded by a first compliant member 30514 and the secondjaw 30520 is at least partially surrounded by a second compliant member30524. The first compliant member 30514 is almost completely surroundedby a first bipolar electrode 30512 and the second compliant member 30524is almost completely surrounded by a second bipolar electrode 30522.More specifically, the first bipolar electrode 30512 surrounds the firstcompliant member 30514 except for a gap portion 30516 where a monopolarelectrode 30530 is affixed to the first compliant member 30514. Further,the second bipolar electrode 30522 surrounds the second compliant member30524 except for a gap portion 30526 facing the first jaw 30510. The gapportion 30526 in the second jaw 30520 permits the monopolar electrode30530 extending from the first complaint member 30514 to experiencebiasing forces from both the first and second compliant members 30514,30524 when the first jaw 30510 and the second jaw 30520 grasp tissue inthe closed position. The first complaint member 30514 and the secondcompliant member 30524 comprise an electrically insulative material toelectrically isolate the monopolar electrode 30530 from the firstbipolar electrode 30512 and the second bipolar electrode 30522. Thefirst and second complaint members 30514, 30524 can comprise rubber,silicone, PTFE tubing, and/or combinations thereof.

FIG. 14 illustrates a surgical end effector 30600 for use with anelectrosurgical instrument. The surgical end effector 30600 comprises afirst jaw 30610 and a second jaw 30620 movable between open and closedpositions to grasp tissue therebetween. The first jaw 30610 is at leastpartially surrounded by a first compliant member 30614 and the secondjaw 30620 is at least partially surrounded by a second compliant member30624. The first compliant member 30614 is almost completely surroundedby a first bipolar electrode 30612 and the second compliant member 30624is almost completely surrounded by a second bipolar electrode 30622. Inother words, the first bipolar electrode 30612 surrounds the firstcompliant member 30614 except for a gap portion 30616 where a monopolarelectrode 30630 is affixed to the first compliant member 30614. Further,the second bipolar electrode 30622 surrounds the second compliant member30624 except for a gap portion 30626.

Further to the above, the gap portions 30616, 30626 in the first andsecond bipolar electrodes 30612, 30622 permit the monopolar electrode30630 extending from the first complaint member 30614 to contact thesecond compliant member 30624 when the first jaw 30610 and the secondjaw 30620 are in the closed position. Further, the gap portions 30616,30626 are offset to permit the first bipolar electrode 30612 to contactthe second compliant member 30624 and the second bipolar electrode 30622to contact the first compliant member 30614 when the jaws 30610, 30620are closed with no tissue positioned therebetween. Unlike the electrodes30512, 30533, the electrodes 30612, 30622 are not mirror images of eachother. Instead, the electrode 30612 is offset with the electrode 30622causing the gap portions 30616, 30610 to also be offset with oneanother. This arrangement prevents circuit shorting.

In any event, when the first jaw 30610 and the second jaw 30620 areclosed, the monopolar electrode 30630 is positioned between the firstcompliant member 30614 and the second compliant member 30624 to providea spring bias or biasing force to the monopolar electrode 30630 whentissue is grasped between the jaws 30610, 30620. In other words, themonopolar electrode 30630 experiences biasing forces from both the firstcompliant member 30614 and the second compliant member 30624 when thefirst jaw 30610 and the second jaw 30620 are closed around tissue. Thebiasing forces from the compliant members 30614, 30624 facilitatecutting of tissue when the monopolar electrode 30630 is energized.

Further to the above, in at least one embodiment, the first complaintmember 30614 and the second compliant member 30624 comprise electricallyinsulative material to electrically isolate the monopolar electrode30630 from the first bipolar electrode 30612 and the second bipolarelectrode 30622. In at least one embodiment, the first and secondcomplaint members 30614, 30624 can comprise rubber, silicon, PTFEtubing, and/or combinations thereof.

FIG. 15 illustrates a surgical end effector 30700 for use with anelectrosurgical instrument. The end effector 30700 comprises a first jaw30710 and a second jaw 30720 movable between open and closed positionsto grasp tissue therebetween. The first jaw 30710 defines a firstbipolar electrode and the second jaw 30720 defines a second bipolarelectrode that are configured to cooperate to delivery bipolar energy tocauterize and/or seal tissue grasped between the first and second jaws30710, 30720. Further, the first jaw 30710 comprises a firstlongitudinal recess 30712 comprising a first compliant member 30714affixed therein. The second jaw 30720 comprises a second longitudinalrecess 30722 comprising a second compliant member 30724 affixed therein.The surgical end effector 30700 further comprises a monopolar electrode30730 affixed to the first compliant member 30714. The first compliantmember 30714 and the second compliant member 30724 permit the monopolarelectrode 30730 extending from the first complaint member 30714 toexperience biasing forces from both the first and second compliantmembers 30714, 30724 when the first jaw 30710 and the second jaw 30720grasp tissue in the closed position. The first complaint member 30714and the second compliant member 30724 comprise electrically insulativematerial to electrically isolate the monopolar electrode 30730 from thefirst electrode of the first jaw 30710 and the second electrode of thesecond jaw 30720. The first and second complaint members 30714, 30724can comprises rubber, silicone, PTFE tubing, and/or combinationsthereof.

FIG. 16 illustrates a surgical end effector for use with anelectrosurgical instrument. The end effector 30800 comprises a first jaw30810 and a second jaw 30820 movable between an open position and aclosed position to grasp tissue therebetween. The first jaw 30810defines a first bipolar electrode and the second jaw 30820 defines asecond bipolar electrode. As discussed above, the first and secondbipolar electrodes are configured to cooperate to delivery bipolarenergy to cauterize and/or seal tissue positioned between the first andsecond jaws 30810, 30820. Further, the first jaw 30810 comprises alongitudinal recess 30812 comprising a compliant member 30814 affixedtherein. In at least one embodiment, the second jaw 30820 comprisesstainless steel coated with PTFE shrink tube. The surgical end effector30800 further comprises a monopolar electrode 30830 affixed to thecompliant member 30814 of the first jaw 30810. The compliant member30814 provides a biasing force to the monopolar electrode 30830 when thefirst jaw 30810 and the second jaw 30820 grasp tissue therebetween. Thebiasing force of the compliant member 30814 enhances contact between themonopolar electrode 30830 and the tissue during cutting operations. Thecomplaint member 30814 comprises an electrically insulative material toelectrically isolate the monopolar electrode 30830 from the firstelectrode of the first jaw 30810. The complaint member 30814 cancomprise rubber, silicone, PTFE tubing, and/or combinations thereof.

FIG. 17 illustrates an alternative surgical end effector 30800′ to thesurgical end effector 30800. The end effector 30800′ is similar to theend effector 30800; however, the monopolar electrode 30830 is affixed tothe second jaw 30820. When tissue is positioned between the first jaw30810 and the second jaw 30820, the compliant member 30814 applies abiasing force through the tissue to the monopolar electrode 30830affixed to the second jaw 30820.

FIG. 18 illustrates a surgical end effector 30900 for use with anelectrosurgical instrument. The surgical end effector 30900 defines anend effector axis EA extending longitudinally along the length of theend effector 30900. The surgical end effector 30900 comprises a firstjaw 30910 and a second jaw 30920 movable between an open position and aclosed position to grasp tissue therebetween. The first jaw 30910comprises a first honeycomb lattice structure 30912 surrounded by afirst diamond-like coating 30914. The second jaw 30920 comprises asecond honeycomb lattice structure 30922 surrounded by a seconddiamond-like coating 30924. The diamond-like coatings 30914, 30924 maybe any of the diamond-like coatings described herein, for example. Thefirst honeycomb lattice structure 30912 and the second honeycomb latticestructure 30922 comprise the same geometric array and material. However,other embodiments are envisioned where the first honeycomb latticestructure 30912 and the second honeycomb lattice structure 30922comprise different geometric arrays and materials which comprise more orless air pockets, as described herein. The first diamond-like coating30914 and the second diamond-like coating 30924 comprise the samematerial. However, other embodiments are envisioned where the firstdiamond-like coating 30914 and the second diamond-like coating 30924comprise different materials.

Further to the above, the end effector 30900 further comprises a firstbipolar electrode 30940 affixed to the first diamond-like coating 30914of the first jaw 30910 on a first lateral side of the end effector axisEA. The first bipolar electrode 30940 extends longitudinally along alength of the end effector 30900. The second jaw 30920 comprises acompliant member 30960 affixed within a cutout portion 30926 defined inthe second jaw 30920. The end effector 30900 further comprises a secondbipolar electrode 30950 affixed to the compliant member 30960 on asecond lateral side of the end effector axis EA. The second bipolarelectrode 30950 extends longitudinally along a length of the endeffector 30900. The electrodes 30940, 30950 cooperate to deliver abipolar energy to tissue grasped between the jaws 30910, 30920. Further,the electrodes 30940, 30950 are offset from one another to preventincidental contact between them in the closed position, which can form ashort circuit.

Further, the end effector 30900 comprises a monopolar electrode 30930affixed to the compliant member 30960 and positioned intermediate thefirst bipolar electrode 30940 and the second bipolar electrode 30950.The monopolar electrode 30930 extends longitudinally along a length ofthe end effector 30900 and, in at least one embodiment, is aligned withthe end effector axis EA.

As discussed herein, the first bipolar electrode 30940 and the secondbipolar electrode 30950 are configured to cauterize and/or seal tissuewhen tissue is positioned between the first and second jaws 30910, 30920by delivering bipolar energy to the tissue in a bipolar energy cycle.Further, the monopolar electrode 30930 is configured to cut the tissueby delivering monopolar energy to the tissue in a monopolar energycycle.

Further to the above, the compliant member 30960 is compressible andexerts pressure on tissue positioned between the first jaw 30910 and thesecond jaw 30920. More specifically, the pressure exerted by the jaws30910, 30920 on the tissue in the region directly above the compliantmember 30960 is greater than the pressure exerted on the tissue in theregions adjacent to the compliant member 30960 (i.e., the regions wherethe compliant member 30960 is not present). In at least one embodiment,the compliant member 30960 comprises an elastomeric and/or plastichoneycomb structure that insulates the second bipolar electrode 30950and the monopolar electrode 30930 from the second diamond-like coating30924 and honeycomb lattice structure 30922 of the second jaw 30920. Thecompliant member 30960 holds the second bipolar electrode 30950 and themonopolar electrode 30930 in place and provides a biasing force to themonopolar electrode 30930 and the second bipolar electrode 30950 towardthe first jaw 30910 when tissue is grasped between the first and secondjaws 30910, 30920.

Further to the above, the first and second diamond-like coatings 30914,30924 are electrically conductive and thermally insulative. However,other embodiments are envisioned where the first and second diamond-likecoatings 30914, 30924 are electrically insulative and/or thermallyinsulative. The first and second honeycomb lattice structures 30912,30922 comprise air pockets which provide thermal insulation for thefirst and second jaws 30910, 30920. The first and second honeycomblattice structures 30912, 30922 provide an additional spring bias to thetissue when the tissue is positioned between the first and second jaws30910, 30920. In at least one embodiment, the first and second honeycomblattice structures 30912, 30922 allow the first and second jaws 30910,30920 to flex and/or bend when tissue is grasped therebetween. In anyevent, the spring forces of the first and second honeycomb latticestructures 30912, 30922 and the compliant member 30960 provideconsistent pressure to the tissue when the tissue is grasped between thefirst and second jaws 30910, 30920.

In various aspects, one or more of the Diamond-Like coatings (DLC)30914, 30924 are comprised of an amorphous carbon-hydrogen network withgraphite and diamond bondings between the carbon atoms. The DLC coatings30914, 30924 can form films with low friction and high hardnesscharacteristics around the first and second honeycomb lattice structures30912, 30922. The DLC coatings 30914, 30924 can be doped or undoped, andare generally in the form of amorphous carbon (a-C) or hydrogenatedamorphous carbon (a-C:H) containing a large fraction of sp3 bonds.Various surface coating technologies can be utilized to form the DLCcoatings 30914, 30924 such as the surface coating technologies developedby Oerlikon Balzers. In at least one example, the DLC coatings 30914,30924 are generated using Plasma-assisted Chemical Vapor Deposition(PACVD).

In various aspects, one or both of the DLC coatings can be substitutedwith a coating comprising Titanium Nitride, Chromium Nitride, GraphitiC™, or any other suitable coating.

Still referring to FIG. 18 , the electrodes 30940, 30950 are offset suchthat a plane extending along the axis EA and transecting the monopolarelectrode 30930 extends between the electrodes 30940, 30950. Further, inthe illustrated examples, the electrodes 30930, 30940, 30950 protrudefrom the outer surface of the jaws 30910, 30920. In other examples,however, one or more of the electrodes 30930, 30940, 30950 can beembedded into the jaws 30910, 30920 such that their outer surfaces areflush with the outer surface of the jaws 30910, 30920.

A number of the end effectors described in connection with FIGS. 4-18are configured to coagulate, cauterize, seal, and/or cut tissue graspedby the end effector in a tissue treatment cycle that includes deliveryof bipolar energy and/or monopolar energy to the tissue. The bipolarenergy and the monopolar energy can be delivered separately, or incombination, to the tissue. In one example, the monopolar energy isdelivered to the tissue after bipolar energy delivery to the tissue isterminated.

FIG. 19 is a graph depicting an alternative example of a tissuetreatment cycle 31000 that delivers bipolar energy, in a bipolar energycycle, and monopolar energy, in a monopolar energy cycle, to the tissue.The tissue treatment cycle 31000 includes a bipolar-only phase 31002, ablended energy phase 31004, and a monopolar-only phase 31006. The tissuetreatment cycle 31000 can be implemented by an electrosurgical systemincluding a generator (e.g. generators 1100, 900) coupled to anelectrosurgical instrument that includes an end effector (e.g. endeffectors of FIGS. 4-18 ), for example.

The graph of FIG. 19 depicts power (W) on the y-axis and time on thex-axis. The power values provided in the graph and in the followingdescription are thereof are non-limiting examples of the power levelsthat can be utilized with the tissue treatment cycle 31000. Othersuitable power levels are contemplated by the present disclosure. Thegraph depicts a bipolar power curve 31010 and a monopolar power curve31014. Further, a blended power curve 31012 represents simultaneousapplication of the monopolar and bipolar energies to the tissue.

Referring still to FIG. 19 , an initial tissue contacting stage isdepicted between t₀ and t₁, which takes place prior to application ofany energy to the tissue. The jaws of the end effector are positioned onopposite sides of the tissue to be treated. Bipolar energy is thenapplied to the tissue throughout a tissue coagulation stage starting att₁ and terminating at t₄. During a feathering segment (t₁-t₂), bipolarenergy application is increased to a predetermined power value (e.g. 100W) and is maintained at the predetermined power value through theremainder of the feathering segment (t₁-t₂) and a tissue-warming segment(t₂-t₃). During a sealing segment (t₃-t₄), the bipolar energyapplication is gradually reduced. Bipolar energy application isterminated at the end of the sealing segment (t₃-t₄), and prior to thebeginning of the cutting/transecting stage.

Further to the above, monopolar energy application to the tissue isactivated during the tissue coagulation stage. In the exampleillustrated in FIG. 19 , activation of the monopolar energy commences atthe end of the feathering segment and the beginning of thetissue-warming segment, at time t₂. Like bipolar energy, the monopolarenergy application to the tissue is gradually increased to apredetermined power level (e.g. 75 W) that is maintained for theremainder of the tissue-warming segment and an initial portion of thesealing segment.

During the sealing segment (t₃-t₄) of the tissue coagulation stage, themonopolar energy application to the tissue gradually increases in poweras bipolar energy application to the tissue gradually decreases inpower. In the illustrated example, the bipolar energy application to thetissue is stopped at the end of the tissue coagulation cycle (4). Thebeginning of the tissue transecting stage is ushered by an inflectionpoint in the monopolar power curve 31014 at t₄ where the previousgradual increase in monopolar energy, experienced during the sealingsegment (t₃-t₄), is followed by a step up to a predetermined maximumthreshold power level (e.g. 150 W) sufficient to transect the coagulatedtissue. The maximum power threshold is maintained for a predeterminedtime period that ends with the return of the monopolar power level tozero.

Accordingly, the tissue treatment cycle 31000 is configured to deliverthree different energy modalities to a tissue treatment region at threeconsecutive time periods. The first energy modality, which includesbipolar energy but not monopolar energy, is applied to the tissuetreatment region from t₁ to t₂, during the feathering segment. Thesecond energy modality, which is a blended energy modality that includesa combination of monopolar energy and bipolar energy, is applied to thetissue treatment region from t₂ to t₄, during the tissue-warming segmentand tissue-sealing segment. Lastly, the third energy modality, whichincludes monopolar energy but not bipolar energy, is applied to thetissue from t₄ to t₅, during the cutting segment. Furthermore, thesecond energy modality comprises a power level that is the sum of thepower levels of monopolar energy and bipolar energy. In at least oneexample, the power level of the second energy modality includes amaximum threshold (e.g. 120 W). In various aspects, the monopolar energyand the bipolar energy can be delivered to an end effector from twodifferent electrical generators.

The blended power curve 31012, applied during the blended energy phase31004, represents a combination of bipolar energy and monopolar energyapplication to the tissue. During the tissue warming segment (t₂-t₃),the blended power curve 31012 rises as monopolar power is activated, att₂, and increased, while the bipolar power is maintained at a constant,or at least substantially constant, level through the remainder of thetissue warming segment (t₂, t₃) and the beginning of the tissue sealingsegment (t₃-t₄). During the sealing segment (t₃-t₄), the blended powercurve 31012 is maintained at a constant, or at least substantiallyconstant, level by gradually decreasing the bipolar power level as themonopolar power level is increased.

In various aspects, the bipolar and/or monopolar power levels of thetissue treatment cycle 31000 can be adjusted based on one or moremeasured parameters including tissue impedance, jaw motor velocity, jawmotor force, jaws aperture of an end effector and/or current draw of themotor effecting end effector closure.

In accordance with at least one embodiment, a monopolar electrode forcutting patient tissue comprises a monopolar camming lobe electrode anda wire attached thereto. The monopolar camming lobe electrode isinitially located at a distal end of an end effector of anelectrosurgical instrument. When the clinician desires to cut patienttissue, the monopolar camming lobe electrode is energized (i.e., via apower generator, as discussed herein) and pulled on by the wire attachedthereto. The wire first induces the camming lobe electrode to rotateupward into the tissue gap along the centerline of the end effector andis then pulled from the distal end to the proximal end to cut thepatient tissue. In other words, the camming lobe electrode acts like apivoting cutting blade of a surgical instrument if the pivoting cuttingblade was located at the distal end and then pulled proximally. Further,in at least one embodiment, the wire attached to the camming lobeelectrode is offset from the rotational center of the camming lobeelectrode such that when the wire is pulled proximally, the camming lobeelectrode is initially rotated into an upright position. The camminglobe electrode exerts a force vertically against the opposite side ofthe end effector jaw from where the camming lobe electrode ispositioned. In such an arrangement, the camming lobe electrode may beinitially concealed from the tissue gap between the jaws of the endeffector until the wire initially pulls on the camming lobe electrode torotate the camming lobe electrode into its upright position. Since thecamming lobe electrode is initially concealed, the load the camming lobeis exerting against the other jaw of the end effector is independent ofthe tissue gap. In other words, the camming lobe electrode will eitherstand substantially upright prior to beginning distal to proximal motionor the camming lobe electrode will stand partially up prior to beginningdistal to proximal motion. The amount the camming lobe electrode isrotated toward its upright position is dependent upon the amount oftissue positioned between the jaws of the end effector and the stiffnessof the tissue. For example, stiffer tissue resists the camming lobeelectrode from rotating into its upright position more than softertissue before the camming lobe electrode begins to move from the distalend toward the proximal end.

FIG. 20 depicts an electrosurgical instrument 40100 comprising ahousing, a shaft 40110 extending from the housing, and an end effector40120 extending from the shaft 40110. An articulation joint 40130rotatably connects the shaft 40110 and the end effector 40120 tofacilitate articulation of the end effector 40120 relative to the shaft40110. A circuit board 40140 is located in the housing of the instrument40100. However, other embodiments are envisioned with the circuit board40140 positioned in any suitable location. In at least one example, thecircuit board 40140 is a printed circuit board. The printed circuitboard 40140 includes a connection plug 40142 for connecting the printedcircuit board 40140 to a wiring assembly 40150. The wiring assembly40150 extends from the printed circuit board 40140 through the shaft40110 and into the end effector 40120. The wiring assembly 40150 isconfigured to monitor at least one function of the end effector 40120and relay monitored information to the printed circuit board 40140. Thewiring assembly 40150 can monitor functions of the end effectorincluding the compression rate of the jaws of the end effector 40120and/or the heat cycle of the end effector 40120, for example. In theillustrated example, the wiring assembly 40150 comprises a sensor 40122positioned in the end effector 40120. The sensor 40122 monitors at leastone function of the end effector 40120.

In various aspects, the sensor 40122 may comprise any suitable sensor,such as, for example, a magnetic sensor, such as a Hall effect sensor, astrain gauge, a pressure sensor, an inductive sensor, such as an eddycurrent sensor, a resistive sensor, a capacitive sensor, an opticalsensor, and/or any other suitable sensor. In various aspects, thecircuit board 40140 comprises a control circuit that includes amicrocontroller with a processor and a memory unit. The memory unit maystore one or more algorithms and/or look-up tables to recognize certainparameters of the end effector 40120 and/or tissue grasped by the endeffector 40120 based on measurements provided by the sensor 40122.

Further to the above, the wiring assembly 40150 may comprise severalflexible, rigid, and/or stretchable portions as part of a flexiblecircuit to allow the wiring assembly 40150 to flex, bend, and/or stretchacross various part boundaries and/or joints of the surgical instrument40100. For example, as the wiring assembly 40150 crosses a part boundaryor joint an inextensible flexible plastic substrate (i.e., polyimide,peek, transparent conductive polyester film) transitions to a flexiblesilicone, or elastomeric substrate, and then back to the inextensibleflexible substrate on the other side of the joint. The metallicconductor within the wiring assembly 40150 remains continuous butstretchable over the part boundary and/or joint. This arrangementenables the entire circuit to be flexible with local portions beingflexible in at least two planes. Thus, the portions of the wiringassembly 40150 that span across part boundaries and/or joints allowlocal relative motions without tearing the wiring assembly 40150, or aloss in its continuity. The wiring assembly 40150 is fixed around thelocal movement zones to protect the wiring assembly 40150 from excessivestrain and/or distortion.

Further to the above, in the present embodiment, the wiring assembly40150 comprises a first elastic portion 40152, a proximal rigid portion40154, a second elastic portion 40156, and a distal rigid portion 40158.The proximal rigid portion 40154 is positioned in the elongate shaft40110 and the distal rigid portion 40158 is positioned in the endeffector 40120. The first elastic portion 40152 is positioned betweenthe printed circuit board 40140 and the proximal rigid portion 40154.The second elastic portion 40156 is positioned between the proximalrigid portion 40154 and the distal rigid portion 40158. Otherembodiments are envisioned where the wiring assembly 40150 comprisesmore or less than two elastic portions. The rigid portions 40154, 40158may be fixed to the shaft 40110 and end effector 40120, respectively,with an adhesive 40105, for example. However, any suitable attachmentmeans may be utilized. The elastic portions 40152, 40156 furthercomprise a resilient portion (i.e., for bending and/or flexing) and astretchable portion (i.e. for stretching). In at least one embodiment,the resilient portion comprise a first substrate, or layer, and thestretchable portions comprise a second substrate, or layer. The firstand second substrates comprise different materials. However, otherembodiments are envisioned where the first and second substratescomprise the same material in different configurations.

Further to the above, the wiring assembly 40150 further comprises anelectrical trace, or conductor 40160, spanning the entire length of thewiring assembly 40150 and configured to carry electrical energy betweenthe printed circuit board 40140 and the end effector 40120. Referringprimarily to FIGS. 21 and 22 , the conductor 40160 comprises astretchable portion 40162 spanning the elastic portions 40152, 40156.The stretchable portion 40162 comprises a snaking, oscillating, and/orzig-zag pattern which allows the stretchable portion 40162 to stretchwhen the elastic portions 40152, 40156 are extended as illustrated inFIG. 22 . When the elastic portions 40152, 40156 are returned to theirrelaxed and/or natural state, the stretchable portion 40162 is returnedto its snaking, oscillating, and/or zig-zag pattern as illustrated inFIG. 21 .

Further to the above, in at least one embodiment, the conductor 40160may be used in high current applications such as RF treatment energywhere the conductor 40160 comprises a copper conductor that is printedinto the wiring assembly 40150 in a snaking, oscillating, and/or zig-zagpattern. Other embodiments are envisioned where the stretchable portions40162 of the conductor 40160 spanning the elastic portions 40152, 40156comprise conductive links that interlock to allow the stretchableportion 40162 to stretch across the joint.

FIG. 23 illustrates an electrosurgical instrument 40200 comprising ashaft 40210, a translating member 40220, and a flex circuit and/orwiring harness 40230. The wiring harness 40230 may be similar to thewiring assembly 40150. The translating member 40220 may be a knife driverod for incising patient tissue, an articulation cable, and/or a rigidarticulation member of the instrument 40200, for example. However, thetranslating member 40220 may be any translating member as describedherein. In any event, the translating member 40220 is configured totranslate relative to the shaft 40210 and comprises a ferrous element40222 that translates with the translating member 40220. The ferrouselement 40222 may be attached to or housed within the translating member40220, for example. The wiring harness 40230 is fixed within the shaft40210 and comprises a linear inductive sensor 40232 configured to detectthe linear position of the ferrous element 40222 and thus the linearposition of the translating member 40220. More specifically, the linearinductive sensor 40232 is configured to generate an electrical fieldwhich the ferrous element 40222 disrupts. The linear inductive sensor40232 is integrated into the wiring harness 40230 to provide robustprotection from external elements and fluids.

In various aspects, the sensor 40232 can be a magnetic sensor, such as aHall effect sensor, a strain gauge, a pressure sensor, an inductivesensor, such as an eddy current sensor, a resistive sensor, a capacitivesensor, an optical sensor, and/or any other suitable sensor. In variousaspects, a control circuit a includes a microcontroller with a processorand a memory unit that stores one or more algorithms and/or look-uptables to recognize certain parameters of the surgical instrument 40200and/or tissue treated by the surgical instrument 40200 based onmeasurements provided by the sensor 40232.

FIGS. 24 and 25 illustrate an electrosurgical instrument 40300comprising a shaft 40310, a translating member 40320, and a flex circuitor wiring harness 40330. The translating member 40320 is configured totranslate relative to the shaft 40310 to perform an end effectorfunction. The translating member 40320 may be a knife drive rod forincising patient tissue, an articulation cable, and/or a rigidarticulation member of the instrument 40300, for example. However, thetranslating member may be any translating member described herein, forexample. In any event, the wiring harness 40330 comprises a conductor40331, a body portion 40332, and an elastic portion 40334 which extendsfrom the body portion 40332. The body portion 40332 is fixed to theshaft 40310 and comprises a first sensor 40340 configured to measure afunction of an end effector of the surgical instrument 40300. Theelastic portion 40334 is attached to the translating member 40320 andcomprises a second sensor 40350. The second sensor 40350 is positionedat the end of the elastic portion 40334 where the elastic portion 40334attaches to the translating member 40320. Thus, the second sensor 40350translates with the translating member 40320. The second sensor 40350 isconfigured to measure the stress and/or strain within the translatingmember 40320. However, other embodiments are envisioned where the secondsensor is configured to measure the position, velocity, and/oracceleration of the translating member 40320.

In various aspects, a control circuit a includes a microcontroller witha processor and a memory unit that stores one or more algorithms and/orlook-up tables to recognize certain parameters of the surgicalinstrument 40300 and/or tissue treated by the surgical instrument 40300based on measurements provided by the sensors 40340, 40350.

Further to the above, the elastic portion 40334 is similar to theelastic portions 40152, 40156 discussed herein with respect to FIGS.20-22 . More specifically, the elastic portion 40334 comprises resilientand/or stretchable portions which allow the elastic portion 40334 tobend, flex, and/or stretch relative to the body portion 40332 of thewiring harness 40330. Such an arrangement allows the second sensor 40350to be integral to the wiring harness 40330 without the detectedmeasurements of the second sensor 40350 being impacted by the movementof the translating member 40320 relative to the wiring harness 40330.

FIGS. 26-33 depict an electrosurgical instrument 40400 comprising ahandle 40410, a shaft 40420 extending from the handle 40410, and adistal head or end effector 40430 extending from the shaft 40420. Thehandle 40410 comprises a trigger 40412 an electric motor assembly 40411including a motor 40411 a driven by a motor driver/controller 40422 bconfigured to drive the motor 40411 a per input from a control circuit40413, and in response to actuation motions of the trigger 40412. Invarious aspects, the control circuit 40413 includes a microcontroller40414 that has a processor 40415 and a memory unit 40417. A power source40418 is coupled to the motor controller 40411 b for powering the motorand to the microcontroller 40414.

The shaft 40420 defines a shaft axis SA and comprises an end effectordrive member, such as the end effector drive member 40419. The endeffector drive member 40419 is operably responsive to the electric motor40411 a in the handle 40410 and is configured to perform at least twoend effector functions. The end effector 40430 is configured to beselectively locked and unlocked from the shaft 40420, as discussedherein. More specifically, when the end effector 40430 is locked to theshaft 40420, the end effector 40430 cannot be rotated and/or articulatedrelative to the shaft 40420, and the end effector drive member 40419 isconfigured to open and close jaws of the end effector 40430. Further,when the end effector 40430 is unlocked from the shaft 40420, the endeffector can be rotated and/or articulated relative to the shaft 40420and the end effector drive member 40419 rotates the end effector 40430about the shaft axis SA when the end effector drive member 40419 isactuated by the electric motor.

The instrument 40400 further comprises a manual toggle member or rockermember 40440, an elongate shaft 40450, and a pull cable 40460. Theelongate shaft 40450 is crimped to the pull cable 40460 such that theelongate shaft 40450 and pull cable 40460 move together along the shaftaxis SA. The rocker member 40440 comprises a slot 40442 defined thereinwhich is configured to receive the elongate shaft 40450. The rockermember 40440 and elongate shaft 40450 are mounted within the handle40410 and portions of the rocker member 40440 extending laterally beyondeach side of the handle 40410 to allow the rocker member 40440 to bemanually actuated by a clinician. The rocker member 40440 furthercomprises a pin 40444 extending into the slot 40442. The pin 40444extends into a V-shaped groove 40452 defined in the outer diameter ofthe elongate shaft 40450. The elongate shaft 40450 is biased, such as bya spring, away from the rocker member 40440 (i.e., biased distally).

In use, when the rocker member 40440 is rotated in a clockwise directionCW the pin 40444 slides within a first side of the V-shaped groove 40452and retracts the elongate shaft 40450 toward the rocker member 40440(i.e., proximally). When the rocker member 40440 is rotated in acounter-clockwise direction CCW the pin 40444 slides within a secondside of the V-shaped groove 40452, opposite from the first side, andretracts the elongate shaft 40450 toward the rocker member 40440 (i.e.,proximally). Referring to FIG. 31 , when the rocker member 40440 iscentered, the elongate shaft 40450 is in its distal most position (i.e.,farthest away from the rocker member 40440). Referring to FIGS. 32 and33 , when the rocker member 40440 is rotated in either the clockwisedirection CW or the counter-clockwise direction CCW, the elongate shaft40450 is retracted toward the rocker member 40440 (i.e., proximally).

As discussed above, the elongate shaft 40450 is crimped to the pullcable 40460. Thus, the pull cable 40460 is retracted when the rockermember 40440 is rotated in either the clockwise direction CW or thecounter-clockwise direction CCW. The pull cable 40460 may be similar tothe unlocking cable 11342 illustrated in FIG. 54 of U.S. PatentApplication Attorney Docket No. END9234USNP2/190717-2. Morespecifically, the pull cable 40460, when retracted, (i.e., movedproximally) unlocks the end effector 40430 to permit the end effector40430 to be rotated and/or articulated relative to the shaft 40420.Thus, when the rocker member 40440 is rotated in either the clockwisedirection CW or the counter-clockwise direction CCW, the end effector40430 is unlocked to allow for rotation and/or articulation of the endeffector 40430.

Further to the above, the rocker member 40440 further comprises adownwardly extending post 40446 configured to engage a first switch40447 and a second switch 40448 positioned on either side of thedownwardly extending post 40446. The first switch 40447 and the secondswitch 40448 are configured to activate an articulation motor positionedwithin the handle 40410. More specifically, when the rocker member 40440is rotated in the clockwise direction CW, the pull cable 40460 isretracted to unlock the end effector 40430 and the post 40446 engagesthe first switch 40447 resulting in rotation of the motor 40411 a in afirst direction which causes an articulation drive assembly 40417 toarticulate the end effector 40430 to the right, for example. When therocker member 40440 is rotated in the counter-clockwise direction CCW,the pull cable 40460 is retracted to unlock the end effector 40430. Thepost 40446 engages the second switch 40448 which results in the rotationof the motor 40411 a in a second direction, opposite the firstdirection, thereby causing the articulation drive assembly 40417 toarticulate the end effector 40430 to the left.

Further to the above, when the rocker member 40440 is centered, asillustrated in FIG. 28 , neither the first switch 40447 nor the secondswitch 40448 are activated. The pull cable 40460 is in its distal mostposition corresponding to the end effector 40430 being locked, asdiscussed above. In various aspect, any suitable shifter or clutchmechanism can be configured to shift the drive member 40419 between anoperable engagement with the articulation drive assembly 40417 and anoperable engagement with a closure/firing assembly 40421. The shiftermechanism can be motivated by the rocker member 40440 such that thedrive member 40419 is operably coupled to the closure/firing driveassembly 40421 when the rocker member 40440 is centered, and is operablycoupled to the articulation drive assembly 40417 when the rocker member40440 is rotated either the clockwise direction CW or thecounter-clockwise direction CCW from the centered position.

When the end effector 40430 is locked, rotation of the electric motor inthe handle 40410 results in rotation of the end effector drive member40419 to cause the closure/firing drive assembly 40421 to move the pairof jaws of the end effector 40430 between the open and closed positions.However, other embodiments are envisioned where rotation of the endeffector drive member 40419 translates a firing member through the endeffector 40430 when the end effector 40430 is locked. In any event, whenthe rocker member 40440 is rotated in either the clockwise direction CWor the counter-clockwise direction CCW, the end effector 40430 isunlocked which allows for rotation of the end effector 40430 about theshaft axis SA. More specifically, when the end effector 40430 isunlocked, and the end effector drive member 40419 is actuated by theelectric motor 40411 a in the handle 40410, the end effector 40430 isrotated about the shaft axis SA relative to the shaft 40420.

Further to the above, other embodiments are envisioned with more thanone articulation motor where the articulation motors are operablyresponsive to the first switch 40447 and the second switch 40448. Suchan arrangement facilitates articulation of the end effector 40430 aboutmultiple axes if a double articulation joint is employed between the endeffector 40430 and the shaft 40420, for example. Other embodiments arealso envisioned with separate motors dedicated to closure, firing,and/or articulation.

In various aspects, the motor driver 40411 b is configured to operatethe electric motor 40411 a in a plurality of operating states based oninput from the processor 40416. For example, when the end effector drivemember 40419 is opening and closing the jaws of the end effector 40430(i.e., the distal head or end effector 40430 is locked), the electricmotor is in a first operating mode. When the electric motor 40411 a isin the first operating mode, the end effector drive member 40419 isoperated at a first speed, at a first rate, with a first amount oftorque, and/or with a first amount of acceleration to open and close thejaws of the end effector 40430. When the end effector drive member 40419is rotating the end effector 40430 about the shaft axis SA (i.e., thedistal head or end effector 40430 is unlocked) the electric motor 40411a is in a second operating mode. When the electric motor 40411 a is inthe second operating mode, the end effector drive member 40419 isoperated at a second speed, at a second rate, with a second amount oftorque, and/or with a second amount of acceleration to rotate the endeffector 40430.

In at least one embodiment, the first operating mode and the secondoperating mode are different and comprise different combinations ofcontrol parameters to drive the end effector drive member 40419 atdifferent speeds, torques, and/or accelerations, for example. In atleast one embodiment, the second operating mode (i.e., distal headrotation) comprises a lower max torque limit, a graduated accelerationto allow precise adjustments, and/or a lower max torque velocity thanthe first operating mode, for example. In contrast, the end effectordrive member 40419 comprises a higher torque limit, comprises no, orlimited, graduation of acceleration, and/or rotates at a faster speed inthe first operating mode, for example.

In various aspects, the memory 40415 stores program instructions that,when executed by the processor 40416, cause the processor 40416 toselect one of the first operating mode or the second operating mode.Various combinations of control parameters to drive the end effectordrive member 40419 at different speeds, torques, and/or accelerations,for example, can be selected by the processor 40416 from a lookup table,algorithm, and/or equation stored in the memory 40415.

Further to the above, referring to FIG. 29 , the control circuit 40413controls the speed, torque, and/or accelerations of the articulationmotor. The articulation motor is activated by the first switch 40447 andthe second switch 40448 to articulate the end effector 40430 relative tothe shaft axis SA, as discussed above. In at least one embodiment, thefirst switch 40447 and the second switch 40448 are adaptivelycontrolled. The microcontroller 40414 can be in signal communicationwith the first switch 40447 and the second switch 40448 to provideproportional speed control of the motor 40411 a to articulate the endeffector 40430 based on the manual movements of the rocker member 40440.More specifically, the distance and/or or force by which the firstswitch 40447 or the second switch 40448 is depressed is directlyproportional to the speed, torque, and/or acceleration with which theend effector 40430 is articulated. Alternatively, in certain examples,the switches 40447 and 40448 are directly in communication with themotor driver 40411 b.

As illustrated in FIG. 29 , various embodiments are envisioned whereinthe surgical instrument 40400 comprises a transmission, a shiftablemotor drive, and/or a shifter 40427 to lock two drive mechanismstogether, such as the end effector drive shaft 40419 and thearticulation drive assembly 40417 which drives articulation of the endeffector 40430, for example, or lock the end effector drive shaft 40419and the closure/firing drive assembly 40421. In such an arrangement, thesurgical instrument 40400 comprises a single electric motor 40411 a todrive articulation of the end effector 40430, rotate the end effector40430 about the shaft axis SA, and open and close the jaws of the endeffector 40430. More specifically, the shifter 40427 switches the singleelectric motor between engagement with the articulation drive assembly40417 and the closure/firing drive assembly 40421.

In accordance with at least one embodiment, handle user controls of themotors and/or end-effector motions of a surgical instrument are insignal communication with a control system of the surgical instrument.The control system is housed within the handle and couples user triggerfeedback to the motor driven feedback of the end-effector to provideproportionate, but not direct, control of the end-effector. In at leastone embodiment, the control system provides indirect open loop controlof the end-effector with an alternative means for providing clamp levelfeedback to the user. The surgical instrument comprises tactile feedbackand a trigger sweep correlation. Further, the surgical instrumentcomprises feedback systems to the control system for monitoringalternative compression or pressure in the jaws to compensate for theremoval of tactile feedback. In such an arrangement, the manual userinputs drive the jaws independent of the stroke of the trigger. In atleast one embodiment, a smaller trigger that is finger sized with springreturns is utilized to improve the maneuverability of the manualcontrols and the handle. Further, in at least one embodiment, modularattachment of an electrical backbone to the surgical instrument isemployed when a new single use shaft is introduced.

FIG. 35 illustrates a graph 40500 of a power schematic of a surgicalsystem 40550 (FIG. 34 ) comprising an electrosurgical instrument 40551and a power source (e.g. a power generator) 40552 configured to supplypower to the electrosurgical instrument 40551. The electrosurgicalinstrument 40551 comprises an integrated, or self-contained, powersource that works in concert with the separate power generator 40552 topower motors and other components of the electrosurgical instrument40551. The integrated power source comprises a charge accumulator devicesuch as a rechargeable, non-removable battery 40553, for example. Thebattery 40553 is configured to begin recharging as soon as the battery40553 is attached to the power output from the generator 40552. Theintegrated power source can begin recharging during use within theprocedure, for example. The integrated power source, or rechargeablebattery, draws a constant power level from the power output generator40552 regardless of the power being expended by the motors, controllers,and/or sensors until the rechargeable battery 40553 is charged to amaximum predetermined level. The battery 40553 can be simultaneouslydischarging to operate the controls or motors of the electrosurgicalinstrument 40551 and charging via the power output generator 40552. Thebattery 40553 continues to charge until it reaches a predetermined levelin between user requested operations during generator initialization orin wait state in-between uses. If the battery 40553 drains to a minimumpredetermined level, the user is notified that they have to wait anamount of time until the battery 40553 is charged above a minimumthreshold level before the electrosurgical instrument 40551 can be usedagain.

Further to the above, the graph 40500 of FIG. 35 includes graphs 40502,40504, 40506, 40508 including Y-axes representing various parameters ofthe surgical system 40550 plotted against time t on the X-axis. Graph40502 depicts on the Y-axis power in Watts (W) supplied by a generator40552 to a power source (e.g. internal charge accumulator such as arechargeable battery 40553) of the electrosurgical instrument. Graph40504 depicts on the Y-axis the charge level of the battery 40553 as apercentage of a maximum charge level threshold. Graph 40506 depicts onthe Y-axis power in Watts (W) drawn from the battery 40553 by componentsof the surgical instrument 40551 such as, for example, a motor 40554.Graph 40508 depicts on the Y-axis motor velocity limits set as apercentage of a maximum motor-velocity threshold.

In the illustrated example, the electrosurgical instrument 40551 isconnected to the generator 40552 at a time t₀. The generator 40552charges the rechargeable battery 40553 at a constant recharge rate (S1)until the charge level of the battery 40553 reaches a maximum thresholdat 100%, which is achieved at t₁. The power supply by the generator40552 is automatically started upon connecting the surgical instrument40551 to the generator 40552, and is automatically stopped once thecharge level reaches the maximum threshold. In various examples, thesurgical system 40550 includes a control circuit 40555 that comprises acharge meter 40556 for detecting the charge level of the battery 40553,and a switching mechanism for deactivating the power supply to thesurgical instrument 40551 when the charge level reaches the maximumthreshold. In at least one example, the battery can be charged at aconstant rate of 15 W. The generator will automatically stop chargingthe battery 40553 when the battery charge level has reached 100%.

Further, at time t₂, the motor 40554 is activated to cause an endeffector 40557 of the surgical instrument 40551 to perform one or morefunctions. The motor 40554 draws power from the battery 40553 causingthe battery 40553 to discharge at a rate S₂. The battery 40553 continuesto charge while discharging power to the motor 40554. Accordingly, therate of discharge S₂ is derived from a combination of the rate ofdischarge of the battery 40553 caused by the motor draw of power fromthe battery and the rate of charge of the battery 40553 by powersupplied to the battery 40553 by the generator 40552, which occurconcurrently, or simultaneously, until the motor 40554 is deactivated.Once the power draw by the motor 40554 is stopped, the battery 40553returns to recharging at the constant rate S1.

In the illustrated example, the motor 40553 is activated at first andsecond instances 40501, 40503, as depicted in Graph 40506, to open andclose the jaws of the end effector 40557 to grasp tissue, for example. Aclinician may open and close the jaws a number of times to achieve agood grasp of the tissue. At the end of the second instance 40503 of themotor activation, the battery 40553 returns to recharging at theconstant rate S1 up to the 100% charge level achieved at t₃, at whichpoint the power supplied by the generator 40552 to the battery 40553 isstopped. Further, a third instance 40505 of the motor activation, toarticulate the end effector 40557, causes the battery 40553 to dischargeat a rate S3 from time t₄ to time t₅. The end effector closure/openingand articulation can be driven by the same or different motors that drawpower from the battery 40553.

Further, as depicted in graphs 40504, 40506, fourth, fifth, sixth, andseventh instances 40507, 40509, 40511, 40513 of motor activations causethe charge level of the battery 40553 to reach and cross a firstpredetermined minimum threshold (e.g. 40%) and a second predeterminedminimum threshold (e.g. 20%). A motor driver/controller 40558 of theelectrosurgical instrument 40551, which is in signal communication withthe generator 40552 and the battery 40553, maintains the motor velocitylimit at 100% until the battery charge level is reduced to the firstpredetermined threshold level. When the charge level of the battery40553 is reduced to a first predetermined level, for example 40% at timet₆, the motor controller 40558 reduces the motor velocity limit (e.g. to50%) to conserve battery power. Accordingly, when the battery chargelevel is at 40% and the jaws of the end effector 40557 are actuated, theinstrument will close the jaws of the end effector 40557 at first areduced speed, which causes the time period t_(b) of the motoractivation instance 40509 to greater than the time period t_(a) of themotor activation instance 40507. Further, when the charge level isreduced to a second predetermined level, for example 20% at time t₇, themotor controller 40558 reduces the velocity limit of the motor to 25% tofurther conserve the battery power. When the battery charge level is at20% and the jaws of the end effector 40557 are actuated, the instrumentclamps the jaws of the end effector 40557 at a second reduced speed thatis less than the first reduced speed, which causes the time period t_(c)of the motor activation instance 40513 to greater than the time periodt_(b) of the motor activation instance 40509. Accordingly, the motorcontroller 40558 causes the motor to perform similar functions atdifferent speeds based on corresponding charge levels of the battery40553 supplying power to the motor 40554.

Further, when the charge level of the battery 40553 is reduced to apredetermined minimum level, for example 10% at time t₉, the motorvelocity limit is reduced to zero and the surgical instrument alerts theclinician to wait until the battery 40553 is charged above apredetermined minimum level, for example 40% at time t₉. When thebattery 40553 has been re-charged from 10% to 40% and the jaws of theend effector 40557 are actuated at a motor activation instance 40515,the surgical instrument 40551 will move the jaws of the end effector40557 at the first reduced speed for a time period t_(d) that is lessthan the time period ta. Upon completion of the activation instance40515, at the end of the time period t_(d), the battery 40553 commencesrecharging at the constant recharging rate S₁ until it reaches themaximum charge level at t₁₀ at which point the power supply from thegenerator 40552 to the battery 40553 is stopped.

FIG. 34 is a simplified schematic diagram of the surgical system 40550that includes a control circuit 40550 that has a microcontroller 40560including a processor 40561 and a memory 40562 that stores programinstructions. When the program instructions are executed, the programinstructions cause the processor 40561 to detect a charge level of thebattery 40553. In at least one example, the processor 40561 is incommunication with a charge meter 40556 configured to measure the chargelevel of the battery 40553. Further, detecting that the charge level ofthe battery 40553 is equal to or less than a first minimum charge levelthreshold (e.g. 40%) while the motor 40554 is in operation causes theprocessor to reduce a maximum velocity limit of the motor 40554 to afirst maximum threshold. In at least one example, the processor 4056 isin communication with a motor driver 40558 configured to control thevelocity of the motor 40554. In such example, the processor 40561signals the motor driver 40558 to reduce the motor velocity limit of themotor 40554 to first maximum threshold. Alternatively, in otherexamples, the processor 40561 may directly control the maximum motorvelocity limit.

Further, detecting that the charge level of the battery 40561 is equalto or less than a second minimum charge level threshold (e.g. 20%) whilethe motor 40554 is in operation causes the processor to reduce themaximum velocity limit of the motor 40554 to a second maximum thresholdless than the first maximum threshold. In addition, detecting that thecharge level of the battery 40553 is equal to or less than a thirdminimum charge level threshold (e.g. 10%) while the motor 40554 is inoperation causes the processor to reduce the maximum velocity limit ofthe motor 40554 to zero or stop the motor 40554. The processor 40561 mayprevent the restart of the motor 40554 until the minimum charge level isequal to or greater than a predetermined threshold such as, for example,the second minimum charge level threshold (e.g. 20%).

In certain examples, the processor 40561 may further employ one or morefeedback systems 40563 to issue an alert to a clinician. In certaininstances, the feedback systems 40563 may comprise one or more visualfeedback systems such as display screens, backlights, and/or LEDs, forexample. In certain instances, the feedback systems 40563 may compriseone or more audio feedback systems such as speakers and/or buzzers, forexample. In certain instances, the feedback systems 40563 may compriseone or more haptic feedback systems, for example. In certain instances,the feedback systems 40563 may comprise combinations of visual, audio,and/or haptic feedback systems, for example.

Further to the above, in at least one embodiment, the internal batteryis charged in-between surgical procedures and/or during surgicalprocedures by an external charge accumulation device, or by an externalbattery attached to the surgical instrument. In at least one embodiment,the external battery comprises disposable batteries which are introducedinto the sterile field in sterile packaging and attached to the surgicalinstrument to supplement the internal battery and/or to replace theinternal battery, for example. In at least one embodiment, the externalbattery is the sole operational power source for controlling themechanical operating systems while radio frequency (RF) power for thetherapeutic treatment of tissue is supplied by the power generator, forexample. In such an arrangement, the external battery is connected tothe surgical instrument when the internal battery is insufficient topower the device. More specifically, the external battery is usedcooperatively with the internal battery rather than in place of it.Further, in at least one embodiment, the external battery comprisesdisposable batteries which are connected to the internal battery of thesurgical instrument when the surgical instrument is not performing asurgical procedure to charge the internal battery. The external batteryis then disconnected from the surgical instrument for later use by theclinician if supplemental power is required.

FIG. 36 illustrates a surgical system 40600 comprising a surgicalinstrument 40610, a monopolar power generator 40620, and a bipolar powergenerator 40630. In the illustrated embodiment, the monopolar powergenerator 40620 is electrically coupled directly to a motor 40650 of thesurgical instrument 40610 and the bipolar power generator 40630 iselectrically coupled directly to the battery 40640. The bipolar powergenerator 40630 is configured to charge the battery 40640 which in turnsupplies power to the motor 40650. The monopolar power generator 40620is configured to supply power directly to the motor 40650 and charge thebattery 40640. More specifically, an additional electrical connection40660 is supplied between the monopolar power generator 40620 and thebattery to allow the monopolar power generator 40620 to supply power tothe motor 40650 while also supplying power to the battery 40640 tocharge the battery 40640. The monopolar power generator 40620 and thebipolar power generator 40630 are configured to output DC power to thebattery 40640 and the motor 40650.

In various aspects, the surgical instrument 40610 includes an endeffector 40611. The motor 40650 is operably coupled to the end effector40611, and can be activated to cause the end effector 40611 to perform aplurality of functions such as, for example, causing at least one of thejaws of 40613, 40614 of the end effector 40611 to move to transition theend effector 40611 between an open configuration, as illustrated in FIG.36 , and a closed configuration to grasp tissue therebetween. Further,the end effector 40611 extends distally from a shaft 40615, and isarticulatable relative to the shaft 40611 about a longitudinal axisextending centrally through the shaft 40615 by actuation motionsgenerated by the motor 40650.

In addition, the surgical instrument 40610 further includes a powersupply assembly 40616 that routes power from the generators 40620 and40630 to the motor 40650 and/or the battery 40640. In at least oneexample, the power supply assembly 40616 separately receives a firstpower from the generator 40620 and a second power from the generator40630. The power supply assembly 40616 is configured to route the secondpower to the battery 40640 to charge the battery at a constant rate (S1)up to a maximum predetermined charge level. The power supply assembly40616 is further configured to route the first power to the electricmotor 40650 and the battery 40650. In the illustrated example, the motor40650 is concurrently, or simultaneously, powered by the battery 40640and the generator 40620.

FIG. 37 illustrates a graph 40700 of the battery charge percentage andthe motor torque of the surgical system 40600. Line 40710 represents thebattery charge percentage of the battery 40640 if only the bipolar powergenerator 40630 is utilized with the surgical instrument 40610. Line40720 represents the combined battery charge percentage when both themonopolar power generator 40620 and the bipolar power generator 40630are utilized with the surgical instrument 40610. When both the monopolarpower generator 40620 and the bipolar power generator 40630 are used tocharge the battery 40640, the battery 40640 is charged faster than ifonly one of the monopolar power generator 40620 and the bipolar powergenerator 40630 were used to charge the battery 40640. Further, line40730 represents the motor torque of the motor 40650 if only the bipolarpower generator 40630 is utilized with the surgical instrument 40610.Line 40740 represents the motor torque of the motor 40650 when both themonopolar power generator 40620 and the bipolar power generator 40630are utilized with the surgical instrument 40610. When both the monopolarpower generator 40620 and the bipolar power generator 40630 are used topower the motor 40650, the motor 40650 can produce more torque ascompared to if only one of the monopolar power generator 40620 and thebipolar power generator 40630 were used to power the motor 40650.

Further to the above, other embodiments are envisioned where themonopolar power generator 40620 is configured to supply power only tothe motor 40650 and the bipolar power generator 40630 is configured tocharge the battery 40640 which in turn supplies additional power to themotor 40650 (i.e., the monopolar power generator 40620 does not chargethe battery 40640). Further, other embodiments are envisioned where boththe monopolar power generator 40620 and the bipolar power generator40630 are used solely to charge the battery 40640 which in turn suppliespower to the motor 40650, for example. In such an arrangement, both themonopolar power generator 40620 and the bipolar power generator 40630could be synchronized to charge the battery 40640 in unison which is inturn used to operate the motor 40650. In at least one embodiment, morethan one motor may be utilized to drive the end effector 40611 of thesurgical instrument 40610. In such an arrangement, the monopolar powergenerator 40620 can supply power to one of the motors and the bipolarpower generator 40630 can supply power to another of the motors.Further, both the monopolar power generator 40620 and the bipolar powergenerator 40630 are used to charge the battery 40640 which in turn canbe used to power the motors. However, other embodiments are envisionedwhere only one of the monopolar power generator 40620 and the bipolarpower generator 40630 are used to charge the battery 40640.

Various aspects of the subject matter described herein are set out inthe following example sets.

Example Set 1

Example 1—A surgical instrument comprising an end effector. The endeffector comprises a proximal end, a distal end, a first jaw, and asecond jaw. The first jaw comprises a first electrode. One of the firstjaw and the second jaw is movable relative to the other of the first jawand the second jaw from an open position to a closed position to grasptissue between the first jaw and the second jaw. The second jawcomprises a second electrode and a monopolar electrode centrallydisposed down a length of the end effector. The first electrode and thesecond electrode cooperate to deliver bipolar energy to the tissue in abipolar cycle. The monopolar electrode comprises a wedge shape. Thewedge shape graduates in width along the length of the end effector. Themonopolar electrode is electrically isolated from the first electrodeand the second electrode. The monopolar electrode is configured toemploy monopolar energy to cut the tissue in a monopolar cycle.

Example 2—The surgical instrument of Example 1, wherein the first jawand the second jaw are laterally curved.

Example 3—The surgical instrument of Examples 1 or 2, wherein themonopolar cycle is performed after the bipolar cycle.

Example 4—The surgical instrument of Examples 1, 2, or 3, wherein themonopolar cycle is performed independent of the bipolar cycle.

Example 5—The surgical instrument of Examples 1 or 2, wherein themonopolar cycle and the bipolar cycle are asynchronously activated in atissue treatment cycle.

Example 6—The surgical instrument of Examples 1, 2, 3, or 4, wherein themonopolar cycle is initiated after initiation of the bipolar cycle andbefore termination of the bipolar cycle in a tissue treatment cycle.

Example 7—A surgical instrument comprising and end effector. The endeffector comprises a proximal end, a distal end, a first jaw, and asecond jaw. The first jaw comprises a first electrode. One of the firstjaw and the second jaw is movable relative to the other of the first jawand the second jaw from an open position to a closed position to grasptissue between the first jaw and the second jaw. The second jawcomprises a second electrode and a monopolar electrode electricallyisolated from the first electrode and the second electrode. The firstelectrode and the second electrode cooperate to deliver bipolar energyto the tissue in a bipolar cycle. The monopolar electrode comprises acompliant flex-circuit substrate centrally disposed down a length of theend effector and an electrically conductive member disposed onto thecompliant flex-circuit substrate. The monopolar electrode is configuredto employ monopolar energy to cut the tissue in a monopolar cycle.

Example 8—The surgical instrument of Example 7, wherein the first jawand the second jaw are laterally curved.

Example 9—The surgical instrument of Examples 7 or 8, wherein themonopolar cycle is performed after the bipolar cycle.

Example 10—The surgical instrument of Examples 7, 8, or 9, wherein themonopolar cycle is performed independent of the bipolar cycle.

Example 11—The surgical instrument of Examples 7 or 8, wherein themonopolar cycle and the bipolar cycle are asynchronously activated.

Example 12—The surgical instrument of Examples 7, 8, 9, or 10, whereinthe monopolar cycle is initiated after initiation of the bipolar cycleand before termination of the bipolar cycle in a tissue treatment cycle.

Example 13—A surgical instrument comprising an end effector. The endeffector comprises a proximal end, a distal end, a first jaw, and asecond jaw. The first jaw comprises a first electrode. One of the firstjaw and the second jaw is movable relative to the other of the first jawand the second jaw from an open position to a closed position to grasptissue between the first jaw and the second jaw. The second jawcomprises a second electrode and a monopolar electrode centrallydisposed down a length of the end effector. The first electrode and thesecond electrode cooperate to deliver bipolar energy to the tissue in abipolar cycle. The monopolar electrode comprises an electricallyconductive wire electrically isolated from the first electrode and thesecond electrode. The monopolar electrode is configured to employmonopolar energy to cut the tissue in a monopolar cycle.

Example 14—The surgical instrument of Example 13, wherein the monopolarcycle is performed after the bipolar cycle.

Example 15—The surgical instrument of Examples 13 or 14, wherein themonopolar cycle is performed independent of the bipolar cycle.

Example 16—The surgical instrument of Examples 13, 14, or 15, whereinthe electrically conductive wire comprises a flexible central portion.

Example 17—The surgical instrument of Examples 13, 14, 15, or 16,further comprising a compliant member, wherein the electricallyconductive wire is electrically isolated from the second jaw by thecompliant member.

Example 18—The surgical instrument of Example 17, wherein the compliantmember comprises a deformable dielectric material.

Example 19—The surgical instrument of Examples 17 or 18, wherein thecompliant member is compressible.

Example 20—The surgical instrument of Examples 17, 18, or 19, whereinthe compliant member comprises a first compliant member, wherein thefirst jaw comprises a second compliant member, and wherein the firstcompliant member and the second compliant member electrically isolatethe electrically conductive wire from the first jaw and the second jaw.

Example Set 2

Example 1—A surgical end effector for use with an electrosurgicalinstrument. The end effector comprises a proximal end, a distal end, afirst jaw, and a second jaw. A central plane of the surgical endeffector extends through the proximal end and the distal end. The firstjaw is longitudinally bisected by the central plane. The first jawcomprises a first electrode extending along a portion of the first jaw.The first electrode is positioned on a first side of the central plane.The second jaw is longitudinally bisected by the central plane. At leastone of the first jaw and the second jaw is movable to transition the endeffector from an open configuration to a closed configuration to grasptissue between the first jaw and the second jaw. The second jawcomprises a second electrode and a compliant substrate. The secondelectrode extends along a portion of the second jaw. The secondelectrode is positioned on a second side of the central plane. The firstelectrode and the second electrode are configured to cooperate todeliver a bipolar energy to the tissue. The compliant substrate extendsalong the length of the second jaw. The compliant substrate comprises afirst compliant portion on the first side of the central plane, a secondcompliant portion on the second side of the central plane, and amonopolar electrode extending along the central plane. The secondelectrode is mounted onto the second compliant portion. The monopolarelectrode is mounted onto the compliant substrate. The monopolarelectrode is configured to deliver a monopolar energy to the tissue. Thecompliant substrate is configured to apply a biasing force to the secondelectrode and the monopolar electrode toward the first jaw in the closedconfiguration.

Example 2—The surgical end effector of Example 1, wherein the firstcompliant portion is smaller than the second compliant portion.

Example 3—The surgical end effector of Examples 1 or 2, wherein thesecond jaw comprises a dielectric coating.

Example 4—The surgical end effector of Example 3, wherein the compliantsubstrate and the dielectric coating define a flush tissue-contactingsurface.

Example 5—The surgical end effector of Examples 3 or 4, wherein thecompliant substrate separates the dielectric coating from the monopolarelectrode and the second electrode.

Example 6—The surgical end effector of Examples 1, 2, 3, 4, or 5,wherein the compliant substrate comprises a porous structure.

Example 7—The surgical end effector of Examples 1, 2, 3, 4, 5, or 6,wherein the compliant substrate comprises an elastic honeycombstructure.

Example 8—The surgical end effector of Examples 1, 2, 3, 4, 5, 6, or 7,wherein the first jaw further comprises a first porous skeleton and afirst diamond-like coating at least partially covering the first porousskeleton, wherein the first electrode is disposed on the firstdiamond-like coating.

Example 9—The surgical end effector of Examples 1, 2, 3, 4, 5, 6, 7, or8, wherein the second jaw further comprises a second porous skeleton anda second diamond-like coating at least partially covering the secondporous skeleton, wherein the compliant substrate is disposed on thesecond diamond-like coating.

Example 10—A surgical instrument comprising a shaft and an end effectorextending from the shaft. The end effector comprises a proximal end, adistal end, a first jaw, and a second jaw. A central plane of the endeffector extends through the proximal end and the distal end. The firstjaw is longitudinally bisected by the central plane. The first jawcomprises a first electrode extending along a portion of the first jaw.The first electrode is positioned on a first side of the central plane.The second jaw is longitudinally bisected by the central plane. At leastone of the first jaw and the second jaw is movable to transition the endeffector from an open configuration to a closed configuration to grasptissue between the first jaw and the second jaw. The second jawcomprises a second electrode and a compressible support. The secondelectrode extends along a portion of the second jaw. The secondelectrode is positioned on a second side of the central plane. The firstelectrode and the second electrode are configured to cooperate todeliver a bipolar energy to the tissue. The compressible support extendsalong the length of the second jaw. The compressible support comprises afirst compressible portion on the first side of the central plane, asecond compressible portion on the second side of the central plane, anda monopolar electrode extending along the central plane. The secondelectrode is mounted onto the second compressible portion. The monopolarelectrode is mounted onto the compressible support. The monopolarelectrode is configured to deliver a monopolar energy to the tissue. Thecompressible support is configured to apply a spring bias to the secondelectrode and the monopolar electrode against the first jaw in theclosed configuration.

Example 11—The surgical instrument of Example 10, wherein the firstcompressible portion is smaller than the second compressible portion.

Example 12—The surgical instrument of Examples 10 or 11, wherein thesecond jaw comprises a dielectric coating.

Example 13—The surgical instrument of Example 12, wherein thecompressible support and the dielectric coating define a flushtissue-contacting surface.

Example 14—The surgical instrument of Examples 12 or 13, wherein thecompressible support separates the dielectric coating from the monopolarelectrode and the second electrode.

Example 15—The surgical instrument of Examples 10, 11, 12, 13, or 14,wherein the compressible support comprises a porous structure.

Example 16—The surgical instrument of Examples 10, 11, 12, 13, 14, or15, wherein the compressible support comprises an elastic honeycombstructure.

Example 17—The surgical instrument of Examples 10, 11, 12, 13, 14, 15,or 16, wherein the first jaw further comprises a first porous skeletonand a first diamond-like coating at least partially covering the firstporous skeleton, wherein the first electrode is disposed on the firstdiamond-like coating.

Example 18—The surgical instrument of Examples 10, 11, 12, 13, 14, 15,16, or 17, wherein the second jaw further comprises a second porousskeleton and a second diamond-like coating at least partially coveringthe second porous skeleton, wherein the compressible support is disposedon the second diamond-like coating.

Example 19—A surgical end effector for use with an electrosurgicalinstrument. The end effector comprises a proximal end, a distal end, afirst jaw, and a second jaw. The first jaw extends longitudinallybetween the proximal end to the distal end. The first jaw comprises afirst electrode extending longitudinally along a portion of the firstjaw. The second jaw extends longitudinally between the proximal end andthe distal end. At least one of the first jaw and the second jaw ismovable to transition the end effector from an open configuration to aclosed configuration to grasp tissue between the first jaw and thesecond jaw. The second jaw comprises a second electrode, a monopolarelectrode, and a compliant substrate. The second electrode extendslongitudinally along a portion of the second jaw. The second electrodeis laterally offset from the first electrode. The first electrode andthe second electrode are configured to cooperate to deliver a bipolarenergy to the tissue. The monopolar electrode extends longitudinallyalongside the second electrode. The monopolar electrode is configured todeliver a monopolar energy to the tissue. The monopolar electrode andthe second electrode are fixedly attached onto the compliant substratein a spaced apart arrangement. The compliant substrate is configured toapply a biasing force to the second electrode and the monopolarelectrode toward the first jaw in the closed configuration.

Example 20—The surgical end effector of Example 19, wherein at least oneof the first jaw and the second jaw comprises a dielectric coating.

Example Set 3

Example 1—An electrosurgical instrument comprising a housing, a shaftextending from the housing, an end effector extending from the shaft, anarticulation joint rotatably connecting the end effector to the shaft,and a wiring circuit. The housing comprises a printed control board. Thewiring circuit extends from the printed control board through the shaftand into the end effector. The wiring circuit is configured to monitor afunction of the end effector and communicate the monitored function tothe printed control board. The wiring circuit comprises a proximal rigidportion fixed to the shaft, a distal rigid portion fixed to the endeffector, and an intermediate portion extending from the proximal rigidportion to the distal rigid portion. The intermediate portion comprisesa resilient portion and a stretchable portion.

Example 2—The electrosurgical instrument of Example 1, wherein theresilient portion comprises a first substrate and the stretchableportion comprises a second substrate, and wherein the first substrateand the second substrate are different.

Example 3—The electrosurgical instrument of Examples 1 or 2, wherein thestretchable portion comprises a conductor in a zig-zag configuration,and wherein the conductor is made of a non-stretchable metallicmaterial.

Example 4—The electrosurgical instrument of Examples 1, 2, or 3, whereinthe stretchable portion comprises a conductor in an accordion shape, andwherein the conductor is made of a non-stretchable metallic material.

Example 5—The electrosurgical instrument of Examples 1, 2, 3, or 4,wherein the resilient portion comprises a laminate portion comprising asubstrate.

Example 6—An electrosurgical instrument comprising a housing, a shaftextending from the housing, an end effector extending from the shaft, anarticulation joint rotatably connecting the end effector to the shaft,and a wiring circuit. The housing comprises a printed control board. Thewiring circuit extends from the printed control board through the shaftand into the end effector. The wiring circuit is configured to monitor afunction of the end effector and communicate the monitored function tothe printed control board. The wiring circuit comprises a rigid portion,a resilient portion transitionable between a relaxed configuration andan unrelaxed configuration, and a conductive wire extending through theresilient portion. The conductive wire comprises a stretchable portion.The conductive wire is configured to elongate when the resilient portionis transitioned from the relaxed configuration to the unrelaxedconfiguration.

Example 7—The electrosurgical instrument of Example 6, wherein thestretchable portion comprises a zig-zag pattern.

Example 8—The electrosurgical instrument of Examples 6 or 7, wherein thestretchable portion comprises an oscillating patter.

Example 9—The electrosurgical instrument of Examples 6, 7, or 8, whereinthe stretchable portion comprises an accordion shape.

Example 10—The electrosurgical instrument of Examples 6, 7, 8, or 9,wherein the resilient portion comprises a laminate portion comprising asubstrate.

Example 11—An electrosurgical instrument comprising a housing, a shaftextending from the housing, an end effector extending from the shaft, atranslating member configured to translate relative to the shaft toperform an end effector function, and a wiring harness. The housingcomprises a printed control board. The wiring harness extends from theprinted control board into the shaft. The wiring harness comprises arigid body portion fixed to the shaft, a resilient portion extendingfrom the rigid body portion, and a conductive wire extending through therigid body portion and the resilient portion. An end of the resilientportion is attached to the translating member. The end of the resilientportion attached to the translating member comprises a sensor configuredto measure an attribute of the translating member.

Example 12—The electrosurgical instrument of Example 11, wherein theattribute of the translating member comprises the stress within thetranslating member.

Example 13—The electrosurgical instrument of Example 11, wherein theattribute of the translating member comprises the strain within thetranslating member.

Example 14—The electrosurgical instrument of Example 11, wherein theattribute of the translating member comprises the stress and strainwithin the translating member.

Example 15—The electrosurgical instrument of Examples 11, 12, 13, or 14,wherein the attribute of the translating member comprises one of thegroup consisting of the position of the translating member, the velocityof the translating member, and the acceleration of the translatingmember.

Example 16—The electrosurgical instrument of Examples 11, 12, 13, 14, or15, wherein a portion of the conductive wire positioned within theresilient portion of the wiring harness comprises a stretchable portion.

Example 17—The electrosurgical instrument of Example 16, wherein thestretchable portion comprises a zig-zag pattern.

Example 18—The electrosurgical instrument of Examples 16 or 17, whereinthe stretchable portion comprises an oscillating pattern.

Example 19—The electrosurgical instrument of Examples 16, 17, or 18,wherein the stretchable portion comprises an accordion shape.

Example 20—The electrosurgical instrument of Examples 11, 12, 13, 14,15, 16, 17, 18, or 19, wherein the wiring harness extends into the endeffector and comprises a second sensor configured to measure an endeffector function.

Example Set 4

Example 1—A surgical instrument comprising a motor assembly, a shaftdefining a shaft axis, a distal head extending from the shaft, a rotarydrive member, and a distal head lock member. The distal head isrotatable about the shaft axis. The motor assembly comprises a motor anda motor controller. The motor controller is configured to operate themotor in a first operating mode and a second operating mode. The distalhead comprises an end effector movable between an open configuration anda closed configuration. The rotary drive member is operably responsiveto the motor. The rotary drive member is operably engaged with thedistal head. The distal head lock member is manually movable between afirst position where the distal head is unlocked from the shaft and asecond position where the distal head is locked to the shaft. The distalhead is rotated about the shaft axis relative to the shaft when thedistal head lock member is in the first position and the rotary drivemember is actuated. The end effector is moved from the openconfiguration toward the closed configuration when the distal head lockmember is in the second position and the rotary drive member isactuated.

Example 2—The surgical instrument of Example 1, wherein the motorassembly is configured to operate in the first operating mode when thedistal head lock member is in the first position, and wherein the motoris configured to operate in the second operating mode when the distalhead lock member is in the second position.

Example 3—The surgical instrument of Examples 1 or 2, wherein the motoris configured to rotate the rotary drive member at a first speed whenthe motor is in the first operating mode, wherein the motor isconfigured to rotate the rotary drive member at a second speed when themotor is in the second operating mode, and wherein the first speed andthe second speed are different.

Example 4—The surgical instrument of Examples 1, 2, or 3, wherein themotor is configured to produce a first amount of torque when the motoris in the first operating mode, wherein the motor is configured toproduce a second amount of torque when the motor is in the secondoperating mode, and wherein the first amount of torque and the secondamount of torque are different.

Example 5—The surgical instrument of Examples 1, 2, 3, or 4, wherein therotary drive member accelerates at a first rate when the motor is in thefirst operating mode, wherein the rotary drive member accelerates at asecond rate when the motor is in the second operating mode, and whereinthe first rate and the second rate are different.

Example 6—The surgical instrument of Examples 1, 2, 3, 4, or 5, furthercomprising a pull cable operably engaged with the distal head lockmember, wherein the pull cable is operably engaged with the distal headto transition the distal head between a first configuration where thedistal head is unlocked from the shaft and a second configuration wherethe distal head is locked to the shaft.

Example 7—A surgical instrument comprising a motor assembly, a shaftdefining a shaft axis, an end effector extending from the shaft, arotary drive member, and a mode selector member. The motor assemblycomprises a motor and a motor controller. The motor controller isconfigured to operate the motor in a first operating mode and a secondoperating mode. The end effector is configured to perform a first endeffector function and a second end effector function that is differentthan the first end effector function. The rotary drive member isoperably responsive to the motor. The rotary drive member is operablyengaged with the end effector and configured to selectively perform thefirst end effector function and the second end effector function. Themode selector member is operably engaged with the end effector and therotary drive member. The mode selector member is manually movablebetween a first position where the end effector performs the first endeffector function when the rotary drive member is actuated by the motorand a second position where the end effector performs the second endeffector function when the rotary drive member is actuated by the motor.The motor is configured to operate in the first operating mode when themode selector member is in the first position. The motor is configuredto operate in the second operating mode when the mode selector member isin the second position.

Example 8—The surgical instrument of Example 7, wherein the motor isconfigured to rotate the rotary drive member at a first speed when themotor is in the first operating mode, wherein the motor is configured torotate the rotary drive member at a second speed when the motor is inthe second operating mode, and wherein the first speed and the secondspeed are different.

Example 9—The surgical instrument of Examples 7 or 8, wherein the motoris configured to produce a first amount of torque when the motor is inthe first operating mode, wherein the motor is configured to produce asecond amount of torque when the motor is in the second operating mode,and wherein the first amount of torque and the second amount of torqueare different.

Example 10—The surgical instrument of Examples 7, 8, or 9, wherein therotary drive member accelerates at a first rate when the motor is in thefirst operating mode, wherein the rotary drive member accelerates at asecond rate when the motor is in the second operating mode, and whereinthe first rate and the second rate are different.

Example 11—A surgical instrument comprising a motor, a shaft defining ashaft axis, an end effector extending from the shaft, a rotary drivemember operably responsive to the motor, a lock member operably engagedwith the rotary drive member, and a toggle member operably engaged withthe lock member. The rotary drive member is operably engaged with theend effector and configured to selectively perform a first end effectorfunction and a second end effector function that is different than thefirst end effector function. The lock member is movable between a firstposition where the end effector is locked to the shaft and a secondposition where the end effector is unlocked from the shaft. The togglemember is rotatable about the shaft axis to move the lock member betweenthe first position and the second position. The rotary drive member isconfigured to perform the first end effector function when the lockmember is in the first position. The rotary drive member is configuredto perform the second end effector function when the lock member is inthe second position.

Example 12—The surgical instrument of Example 11, wherein the first endeffector function comprises a rotation of the end effector about theshaft axis, and wherein the second end effector function comprisesactuating a pair of jaws of the end effector.

Example 13—The surgical instrument of Example 11, wherein the first endeffector function comprises translating a firing member through the endeffector, and wherein the second end effector function comprisesactuating a pair of jaws of the end effector.

Example 14—The surgical instrument of Example 11, further comprising anarticulation joint, wherein the second end effector function comprisesarticulation of the end effector relative to the shaft about anarticulation axis.

Example 15—The surgical instrument of Examples 11, 12, 13, or 14,further comprising a motor controller configured to operate the motor ina first operating mode and a second operating mode that is differentthan the first operating mode.

Example 16—The surgical instrument of Example 15, wherein the motorcontroller is configured to operate the motor in the first operatingmode when the lock member is in the first position and operate the motorin the second operating mode when the lock member is in the secondposition.

Example 17—The surgical instrument of Example 16, wherein the motor isconfigured to rotate the rotary drive member at a first speed when themotor is in the first operating mode, wherein the motor is configured torotate the rotary drive member at a second speed when the motor is inthe second operating mode, and wherein the first speed and the secondspeed are different.

Example 18—The surgical instrument of Examples 16 or 17, wherein themotor is configured to produce a first amount of torque when the motoris in the first operating mode, wherein the motor is configured toproduce a second amount of torque when the motor is in the secondoperating mode, and wherein the first amount of torque and the secondamount of torque are different.

Example 19—The surgical instrument of Examples 16, 17, or 18, whereinthe rotary drive member accelerates at a first rate when the motor is inthe first operating mode, wherein the rotary drive member accelerates ata second rate when the motor is in the second operating mode, andwherein the first rate and the second rate are different.

Example 20—The surgical instrument of Examples 11, 12, 13, 14, 15, 16,17, 18, or 19, further comprising a pull cable operably engaged with thelock member and the end effector, wherein the pull cable is configuredto transition the end effector between a first configuration where theend effector is unlocked from the shaft and a second configuration wherethe end effector is locked to the shaft.

Example Set 5

Example 1—A surgical system comprising a generator and a surgicalinstrument configured to receive power from the generator. The surgicalinstrument comprises a housing, a shaft extending form the housing, anend effector extending from the shaft, and an internal chargeaccumulator in electrical communication with the generator. The housingcomprises an electric motor. The shaft defines a longitudinal shaftaxis. The end effector is operably responsive to actuations from theelectric motor. The end effector is transitionable between an openconfiguration and a closed configuration. The end effector is rotatablerelative to the longitudinal shaft axis about an articulation axis thatis transverse to the longitudinal shaft axis. The generator is incapableof supplying a sufficient power directly to the electric motor to causethe electric motor to perform the actuations. The internal chargeaccumulator is configured to supply power to the electric motor. Theinternal charge accumulator is chargeable by the generator to athreshold value at a charge rate dependent on a charge level of theinternal charge accumulator. The charge rate is independent of a chargeexpenditure by the surgical instrument.

Example 2—The surgical system of Example 1, wherein the generator isconfigured to charge the internal charge accumulator during the chargeexpenditure.

Example 3—The surgical system of Examples 1 or 2, wherein the generatorsupplies power to the internal charge accumulator at a constant ratewhen the charge level of the internal charge accumulator is below thethreshold value while the electric motor is drawing power from theinternal charge accumulator.

Example 4—The surgical system of Examples 1, 2, or 3, wherein the speedof the electric motor is permitted to reach a maximum speed when thecharge level of the internal charge accumulator is above a predeterminedminimum level.

Example 5—The surgical system of Example 4, wherein the speed of theelectric motor is limited to a reduced speed when the charge level ofthe internal charge accumulator is below the predetermined minimumlevel.

Example 6—The surgical instrument of Examples 1, 2, 3, 4, or 5, whereinthe end effector comprises a first jaw comprising an electrode and asecond jaw, and wherein the generator is configured to supply a firstpower to the surgical instrument to cause the electrode to cauterizetissue captured between the first jaw and the second jaw while supplyinga second power to the surgical instrument to charge the internal chargeaccumulator.

Example 7—The surgical instrument of Examples 1, 2, 3, 4, 5, or 6,wherein the internal charge accumulator comprises a rechargeablebattery.

Example 8—The surgical instrument of Example 7, wherein the rechargeablebattery is integrated with the housing.

Example 9—A surgical system comprising a power source and a surgicalinstrument configured to receive power from the power source. Thesurgical instrument comprises a housing, a shaft extending from thehousing, an end effector extending from the shaft, and an internalcharge accumulator. The housing comprises an electric motor. The endeffector is operably coupled to the electric motor. The electric motoris configured to drive the end effector to perform end effectorfunctions. The internal charge accumulator is in electric communicationwith the power source. The internal charge accumulator is configured tosupply power to the electric motor. The internal charge accumulator ischargeable by the power source to a threshold value at a charge ratedependent on a charge level of the internal charge accumulator. Theinternal charge accumulator is chargeable by the power source while theelectric motor is driving the end effector to perform the end effectorfunctions.

Example 10—The surgical system of Example 9, further comprising acontrol circuit configured to detect the charge level of the internalcharge accumulator, wherein detecting a reduction of the charge level toor below a first minimum charge-level causes the control circuit toreduce a maximum velocity limit of the electric motor to a first minimumvelocity-limit threshold.

Example 11—The surgical system of Example 10, wherein detecting areduction of the charge level to or below a second minimum charge-levelbelow the first minimum charge-level causes the control circuit toreduce a maximum velocity limit of the electric motor to a secondminimum velocity-limit threshold less than the first minimumvelocity-limit threshold.

Example 12—The surgical system of Example 11, wherein detecting areduction of the charge level to or below a third minimum charge-levelbelow the second minimum charge-level causes the control circuit to stopthe electric motor.

Example 13—The surgical system of Example 12, wherein the controlcircuit is configured to prevent reactivation of the electric motoruntil the charge level of the internal charge accumulator is at or abovethe third minimum charge-level.

Example 14—The surgical system of Examples 9, 10, 11, 12, or 13, whereinthe power source supplies power to the internal charge accumulator at aconstant rate when the charge level of the internal charge accumulatoris below the threshold value while the electric motor is drawing powerfrom the internal charge accumulator.

Example 15—The surgical instrument of Examples 9, 10, 11, 12, 13, or 14,wherein the end effector comprises a first jaw comprising an electrodeand a second jaw, and wherein the power source is configured to supply afirst power to the surgical instrument to cause the electrode tocauterize tissue captured between the first jaw and the second jaw whilesupplying a second power to the surgical instrument to charge theinternal charge accumulator.

Example 16—The surgical instrument of Examples 9, 10, 11, 12, 13, 14, or15, wherein the internal charge accumulator comprises a rechargeablebattery.

Example 17—The surgical instrument of Examples 9, 10, 11, 12, 13, 14,15, or 16, wherein the power source is a disposable battery.

Example 18—A surgical instrument comprising a housing, a shaft extendingfrom the housing, an end effector extending from the shaft, and a powersupply. The housing comprises an electric motor and an internal chargeaccumulator connected to the electric motor. The electric motor isconfigured to cause the end effector to perform end effector functions.The power supply assembly is connectable to two separate power sources.The power supply assembly is configured to separately receive a firstpower and a second power from the power sources. The power supplyassembly is configured to route the second power to the internal chargeaccumulator. The power supply assembly is configured to route the firstpower to the electric motor and to the internal charge accumulator. Thepower supply assembly is configured to cause the electric motor to besimultaneously powered by the internal charge accumulator and the firstpower.

Example 19—The surgical instrument of Example 18, wherein the internalcharge accumulator and the first power are configured to cause theelectric motor to produce a first motor torque greater than a secondmotor torque caused by either one of the internal charge accumulator andthe first power alone.

Example 20—The surgical instrument of Examples 18 or 19, wherein theinternal charge accumulator comprises a rechargeable battery.

While several forms have been illustrated and described, it is not theintention of Applicant to restrict or limit the scope of the appendedclaims to such detail. Numerous modifications, variations, changes,substitutions, combinations, and equivalents to those forms may beimplemented and will occur to those skilled in the art without departingfrom the scope of the present disclosure. Moreover, the structure ofeach element associated with the described forms can be alternativelydescribed as a means for providing the function performed by theelement. Also, where materials are disclosed for certain components,other materials may be used. It is therefore to be understood that theforegoing description and the appended claims are intended to cover allsuch modifications, combinations, and variations as falling within thescope of the disclosed forms. The appended claims are intended to coverall such modifications, variations, changes, substitutions,modifications, and equivalents.

The foregoing detailed description has set forth various forms of thedevices and/or processes via the use of block diagrams, flowcharts,and/or examples. Insofar as such block diagrams, flowcharts, and/orexamples contain one or more functions and/or operations, it will beunderstood by those within the art that each function and/or operationwithin such block diagrams, flowcharts, and/or examples can beimplemented, individually and/or collectively, by a wide range ofhardware, software, firmware, or virtually any combination thereof.Those skilled in the art will recognize that some aspects of the formsdisclosed herein, in whole or in part, can be equivalently implementedin integrated circuits, as one or more computer programs running on oneor more computers (e.g., as one or more programs running on one or morecomputer systems), as one or more programs running on one or moreprocessors (e.g., as one or more programs running on one or moremicroprocessors), as firmware, or as virtually any combination thereof,and that designing the circuitry and/or writing the code for thesoftware and or firmware would be well within the skill of one of skillin the art in light of this disclosure. In addition, those skilled inthe art will appreciate that the mechanisms of the subject matterdescribed herein are capable of being distributed as one or more programproducts in a variety of forms, and that an illustrative form of thesubject matter described herein applies regardless of the particulartype of signal bearing medium used to actually carry out thedistribution.

Instructions used to program logic to perform various disclosed aspectscan be stored within a memory in the system, such as dynamic randomaccess memory (DRAM), cache, flash memory, or other storage.Furthermore, the instructions can be distributed via a network or by wayof other computer readable media. Thus a machine-readable medium mayinclude any mechanism for storing or transmitting information in a formreadable by a machine (e.g., a computer), but is not limited to, floppydiskettes, optical disks, compact disc, read-only memory (CD-ROMs), andmagneto-optical disks, read-only memory (ROMs), random access memory(RAM), erasable programmable read-only memory (EPROM), electricallyerasable programmable read-only memory (EEPROM), magnetic or opticalcards, flash memory, or a tangible, machine-readable storage used in thetransmission of information over the Internet via electrical, optical,acoustical or other forms of propagated signals (e.g., carrier waves,infrared signals, digital signals, etc.). Accordingly, thenon-transitory computer-readable medium includes any type of tangiblemachine-readable medium suitable for storing or transmitting electronicinstructions or information in a form readable by a machine (e.g., acomputer).

As used in any aspect herein, the term “control circuit” may refer to,for example, hardwired circuitry, programmable circuitry (e.g., acomputer processor including one or more individual instructionprocessing cores, processing unit, processor, microcontroller,microcontroller unit, controller, digital signal processor (DSP),programmable logic device (PLD), programmable logic array (PLA), orfield programmable gate array (FPGA)), state machine circuitry, firmwarethat stores instructions executed by programmable circuitry, and anycombination thereof. The control circuit may, collectively orindividually, be embodied as circuitry that forms part of a largersystem, for example, an integrated circuit (IC), an application-specificintegrated circuit (ASIC), a system on-chip (SoC), desktop computers,laptop computers, tablet computers, servers, smart phones, etc.Accordingly, as used herein “control circuit” includes, but is notlimited to, electrical circuitry having at least one discrete electricalcircuit, electrical circuitry having at least one integrated circuit,electrical circuitry having at least one application specific integratedcircuit, electrical circuitry forming a general purpose computing deviceconfigured by a computer program (e.g., a general purpose computerconfigured by a computer program which at least partially carries outprocesses and/or devices described herein, or a microprocessorconfigured by a computer program which at least partially carries outprocesses and/or devices described herein), electrical circuitry forminga memory device (e.g., forms of random access memory), and/or electricalcircuitry forming a communications device (e.g., a modem, communicationsswitch, or optical-electrical equipment). Those having skill in the artwill recognize that the subject matter described herein may beimplemented in an analog or digital fashion or some combination thereof.

As used in any aspect herein, the term “logic” may refer to an app,software, firmware and/or circuitry configured to perform any of theaforementioned operations. Software may be embodied as a softwarepackage, code, instructions, instruction sets and/or data recorded onnon-transitory computer readable storage medium. Firmware may beembodied as code, instructions or instruction sets and/or data that arehard-coded (e.g., nonvolatile) in memory devices.

As used in any aspect herein, the terms “component,” “system,” “module”and the like can refer to a computer-related entity, either hardware, acombination of hardware and software, software, or software inexecution.

As used in any aspect herein, an “algorithm” refers to a self-consistentsequence of steps leading to a desired result, where a “step” refers toa manipulation of physical quantities and/or logic states which may,though need not necessarily, take the form of electrical or magneticsignals capable of being stored, transferred, combined, compared, andotherwise manipulated. It is common usage to refer to these signals asbits, values, elements, symbols, characters, terms, numbers, or thelike. These and similar terms may be associated with the appropriatephysical quantities and are merely convenient labels applied to thesequantities and/or states.

A network may include a packet switched network. The communicationdevices may be capable of communicating with each other using a selectedpacket switched network communications protocol. One examplecommunications protocol may include an Ethernet communications protocolwhich may be capable permitting communication using a TransmissionControl Protocol/Internet Protocol (TCP/IP). The Ethernet protocol maycomply or be compatible with the Ethernet standard published by theInstitute of Electrical and Electronics Engineers (IEEE) titled “IEEE802.3 Standard”, published in December, 2008 and/or later versions ofthis standard. Alternatively or additionally, the communication devicesmay be capable of communicating with each other using an X.25communications protocol. The X.25 communications protocol may comply orbe compatible with a standard promulgated by the InternationalTelecommunication Union-Telecommunication Standardization Sector(ITU-T). Alternatively or additionally, the communication devices may becapable of communicating with each other using a frame relaycommunications protocol. The frame relay communications protocol maycomply or be compatible with a standard promulgated by ConsultativeCommittee for International Telegraph and Telephone (CCITT) and/or theAmerican National Standards Institute (ANSI). Alternatively oradditionally, the transceivers may be capable of communicating with eachother using an Asynchronous Transfer Mode (ATM) communications protocol.The ATM communications protocol may comply or be compatible with an ATMstandard published by the ATM Forum titled “ATM-MPLS NetworkInterworking 2.0” published August 2001, and/or later versions of thisstandard. Of course, different and/or after-developedconnection-oriented network communication protocols are equallycontemplated herein.

Unless specifically stated otherwise as apparent from the foregoingdisclosure, it is appreciated that, throughout the foregoing disclosure,discussions using terms such as “processing,” “computing,”“calculating,” “determining,” “displaying,” or the like, refer to theaction and processes of a computer system, or similar electroniccomputing device, that manipulates and transforms data represented asphysical (electronic) quantities within the computer system's registersand memories into other data similarly represented as physicalquantities within the computer system memories or registers or othersuch information storage, transmission or display devices.

One or more components may be referred to herein as “configured to,”“configurable to,” “operable/operative to,” “adapted/adaptable,” “ableto,” “conformable/conformed to,” etc. Those skilled in the art willrecognize that “configured to” can generally encompass active-statecomponents and/or inactive-state components and/or standby-statecomponents, unless context requires otherwise.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Those skilled in the art will recognize that, in general, terms usedherein, and especially in the appended claims (e.g., bodies of theappended claims) are generally intended as “open” terms (e.g., the term“including” should be interpreted as “including but not limited to,” theterm “having” should be interpreted as “having at least,” the term“includes” should be interpreted as “includes but is not limited to,”etc.). It will be further understood by those within the art that if aspecific number of an introduced claim recitation is intended, such anintent will be explicitly recited in the claim, and in the absence ofsuch recitation no such intent is present. For example, as an aid tounderstanding, the following appended claims may contain usage of theintroductory phrases “at least one” and “one or more” to introduce claimrecitations. However, the use of such phrases should not be construed toimply that the introduction of a claim recitation by the indefinitearticles “a” or “an” limits any particular claim containing suchintroduced claim recitation to claims containing only one suchrecitation, even when the same claim includes the introductory phrases“one or more” or “at least one” and indefinite articles such as “a” or“an” (e.g., “a” and/or “an” should typically be interpreted to mean “atleast one” or “one or more”); the same holds true for the use ofdefinite articles used to introduce claim recitations.

In addition, even if a specific number of an introduced claim recitationis explicitly recited, those skilled in the art will recognize that suchrecitation should typically be interpreted to mean at least the recitednumber (e.g., the bare recitation of “two recitations,” without othermodifiers, typically means at least two recitations, or two or morerecitations). Furthermore, in those instances where a conventionanalogous to “at least one of A, B, and C, etc.” is used, in generalsuch a construction is intended in the sense one having skill in the artwould understand the convention (e.g., “a system having at least one ofA, B, and C” would include but not be limited to systems that have Aalone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). In those instances where aconvention analogous to “at least one of A, B, or C, etc.” is used, ingeneral such a construction is intended in the sense one having skill inthe art would understand the convention (e.g., “a system having at leastone of A, B, or C” would include but not be limited to systems that haveA alone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). It will be furtherunderstood by those within the art that typically a disjunctive wordand/or phrase presenting two or more alternative terms, whether in thedescription, claims, or drawings, should be understood to contemplatethe possibilities of including one of the terms, either of the terms, orboth terms unless context dictates otherwise. For example, the phrase “Aor B” will be typically understood to include the possibilities of “A”or “B” or “A and B.”

With respect to the appended claims, those skilled in the art willappreciate that recited operations therein may generally be performed inany order. Also, although various operational flow diagrams arepresented in a sequence(s), it should be understood that the variousoperations may be performed in other orders than those which areillustrated, or may be performed concurrently. Examples of suchalternate orderings may include overlapping, interleaved, interrupted,reordered, incremental, preparatory, supplemental, simultaneous,reverse, or other variant orderings, unless context dictates otherwise.Furthermore, terms like “responsive to,” “related to,” or otherpast-tense adjectives are generally not intended to exclude suchvariants, unless context dictates otherwise.

It is worthy to note that any reference to “one aspect,” “an aspect,”“an exemplification,” “one exemplification,” and the like means that aparticular feature, structure, or characteristic described in connectionwith the aspect is included in at least one aspect. Thus, appearances ofthe phrases “in one aspect,” “in an aspect,” “in an exemplification,”and “in one exemplification” in various places throughout thespecification are not necessarily all referring to the same aspect.Furthermore, the particular features, structures or characteristics maybe combined in any suitable manner in one or more aspects.

In this specification, unless otherwise indicated, terms “about” or“approximately” as used in the present disclosure, unless otherwisespecified, means an acceptable error for a particular value asdetermined by one of ordinary skill in the art, which depends in part onhow the value is measured or determined. In certain embodiments, theterm “about” or “approximately” means within 1, 2, 3, or 4 standarddeviations. In certain embodiments, the term “about” or “approximately”means within 50%, 20%, 15%, 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%,0.5%, or 0.05% of a given value or range.

In this specification, unless otherwise indicated, all numericalparameters are to be understood as being prefaced and modified in allinstances by the term “about,” in which the numerical parameters possessthe inherent variability characteristic of the underlying measurementtechniques used to determine the numerical value of the parameter. Atthe very least, and not as an attempt to limit the application of thedoctrine of equivalents to the scope of the claims, each numericalparameter described herein should at least be construed in light of thenumber of reported significant digits and by applying ordinary roundingtechniques.

Any numerical range recited herein includes all sub-ranges subsumedwithin the recited range. For example, a range of “1 to 10” includes allsub-ranges between (and including) the recited minimum value of 1 andthe recited maximum value of 10, that is, having a minimum value equalto or greater than 1 and a maximum value equal to or less than 10. Also,all ranges recited herein are inclusive of the end points of the recitedranges. For example, a range of “1 to 10” includes the end points 1 and10. Any maximum numerical limitation recited in this specification isintended to include all lower numerical limitations subsumed therein,and any minimum numerical limitation recited in this specification isintended to include all higher numerical limitations subsumed therein.Accordingly, Applicant reserves the right to amend this specification,including the claims, to expressly recite any sub-range subsumed withinthe ranges expressly recited. All such ranges are inherently describedin this specification.

Any patent application, patent, non-patent publication, or otherdisclosure material referred to in this specification and/or listed inany Application Data Sheet is incorporated by reference herein, to theextent that the incorporated materials is not inconsistent herewith. Assuch, and to the extent necessary, the disclosure as explicitly setforth herein supersedes any conflicting material incorporated herein byreference. Any material, or portion thereof, that is said to beincorporated by reference herein, but which conflicts with existingdefinitions, statements, or other disclosure material set forth hereinwill only be incorporated to the extent that no conflict arises betweenthat incorporated material and the existing disclosure material.

In summary, numerous benefits have been described which result fromemploying the concepts described herein. The foregoing description ofthe one or more forms has been presented for purposes of illustrationand description. It is not intended to be exhaustive or limiting to theprecise form disclosed. Modifications or variations are possible inlight of the above teachings. The one or more forms were chosen anddescribed in order to illustrate principles and practical application tothereby enable one of ordinary skill in the art to utilize the variousforms and with various modifications as are suited to the particular usecontemplated. It is intended that the claims submitted herewith definethe overall scope.

What is claimed is:
 1. A surgical instrument, comprising: a motorassembly comprising a motor and a motor controller, wherein the motorcontroller is configured to operate the motor in a first operating modeand a second operating mode; a shaft defining a shaft axis; a distalhead extending from the shaft, wherein the distal head is rotatableabout the shaft axis, and wherein the distal head comprises an endeffector movable between an open configuration and a closedconfiguration; a rotary drive member operably responsive to the motor,wherein the rotary drive member is operably engaged with the distalhead; and a distal head lock member manually movable between a firstposition where the distal head is unlocked from the shaft and a secondposition where the distal head is locked to the shaft, wherein thedistal head is rotated about the shaft axis relative to the shaft whenthe distal head lock member is in the first position and the rotarydrive member is actuated, and wherein the end effector is moved from theopen configuration toward the closed configuration when the distal headlock member is in the second position and the rotary drive member isactuated.
 2. The surgical instrument of claim 1, wherein the motorassembly is configured to operate in the first operating mode when thedistal head lock member is in the first position, and wherein the motoris configured to operate in the second operating mode when the distalhead lock member is in the second position.
 3. The surgical instrumentof claim 2, wherein the motor is configured to rotate the rotary drivemember at a first speed when the motor is in the first operating mode,wherein the motor is configured to rotate the rotary drive member at asecond speed when the motor is in the second operating mode, and whereinthe first speed and the second speed are different.
 4. The surgicalinstrument of claim 2, wherein the motor is configured to produce afirst amount of torque when the motor is in the first operating mode,wherein the motor is configured to produce a second amount of torquewhen the motor is in the second operating mode, and wherein the firstamount of torque and the second amount of torque are different.
 5. Thesurgical instrument of claim 2, wherein the rotary drive memberaccelerates at a first rate when the motor is in the first operatingmode, wherein the rotary drive member accelerates at a second rate whenthe motor is in the second operating mode, and wherein the first rateand the second rate are different.
 6. The surgical instrument of claim1, further comprising a pull cable operably engaged with the distal headlock member, wherein the pull cable is operably engaged with the distalhead to transition the distal head between a first configuration wherethe distal head is unlocked from the shaft and a second configurationwhere the distal head is locked to the shaft.
 7. A surgical instrument,comprising: a motor assembly comprising a motor and a motor controller,wherein the motor controller is configured to operate the motor in afirst operating mode and a second operating mode; a shaft defining ashaft axis; an end effector extending from the shaft, wherein the endeffector is configured to perform a first end effector function and asecond end effector function that is different than the first endeffector function; a rotary drive member operably responsive to themotor, wherein the rotary drive member is operably engaged with the endeffector and configured to selectively perform the first end effectorfunction and the second end effector function; and a mode selectormember operably engaged with the end effector and the rotary drivemember, wherein the mode selector member is manually movable between afirst position where the end effector performs the first end effectorfunction when the rotary drive member is actuated by the motor and asecond position where the end effector performs the second end effectorfunction when the rotary drive member is actuated by the motor, whereinthe motor is configured to operate in the first operating mode when themode selector member is in the first position, and wherein the motor isconfigured to operate in the second operating mode when the modeselector member is in the second position.
 8. The surgical instrument ofclaim 7, wherein the motor is configured to rotate the rotary drivemember at a first speed when the motor is in the first operating mode,wherein the motor is configured to rotate the rotary drive member at asecond speed when the motor is in the second operating mode, and whereinthe first speed and the second speed are different.
 9. The surgicalinstrument of claim 7, wherein the motor is configured to produce afirst amount of torque when the motor is in the first operating mode,wherein the motor is configured to produce a second amount of torquewhen the motor is in the second operating mode, and wherein the firstamount of torque and the second amount of torque are different.
 10. Thesurgical instrument of claim 7, wherein the rotary drive memberaccelerates at a first rate when the motor is in the first operatingmode, wherein the rotary drive member accelerates at a second rate whenthe motor is in the second operating mode, and wherein the first rateand the second rate are different.
 11. A surgical instrument,comprising: a motor; a shaft defining a shaft axis; an end effectorextending from the shaft; a rotary drive member operably responsive tothe motor, wherein the rotary drive member is operably engaged with theend effector and configured to selectively perform a first end effectorfunction and a second end effector function that is different than thefirst end effector function; a lock member operably engaged with therotary drive member, wherein the lock member is movable between a firstposition where the end effector is locked to the shaft and a secondposition where the end effector is unlocked from the shaft; and a togglemember operably engaged with the lock member, wherein the toggle memberis rotatable about the shaft axis to move the lock member between thefirst position and the second position, wherein the rotary drive memberis configured to perform the first end effector function when the lockmember is in the first position, and wherein the rotary drive member isconfigured to perform the second end effector function when the lockmember is in the second position.
 12. The surgical instrument of claim11, wherein the first end effector function comprises a rotation of theend effector about the shaft axis, and wherein the second end effectorfunction comprises actuating a pair of jaws of the end effector.
 13. Thesurgical instrument of claim 11, wherein the first end effector functioncomprises translating a firing member through the end effector, andwherein the second end effector function comprises actuating a pair ofjaws of the end effector.
 14. The surgical instrument of claim 11,further comprising an articulation joint, wherein the second endeffector function comprises articulation of the end effector relative tothe shaft about an articulation axis.
 15. The surgical instrument ofclaim 11, further comprising a motor controller configured to operatethe motor in a first operating mode and a second operating mode that isdifferent than the first operating mode.
 16. The surgical instrument ofclaim 15, wherein the motor controller is configured to operate themotor in the first operating mode when the lock member is in the firstposition and operate the motor in the second operating mode when thelock member is in the second position.
 17. The surgical instrument ofclaim 16, wherein the motor is configured to rotate the rotary drivemember at a first speed when the motor is in the first operating mode,wherein the motor is configured to rotate the rotary drive member at asecond speed when the motor is in the second operating mode, and whereinthe first speed and the second speed are different.
 18. The surgicalinstrument of claim 16, wherein the motor is configured to produce afirst amount of torque when the motor is in the first operating mode,wherein the motor is configured to produce a second amount of torquewhen the motor is in the second operating mode, and wherein the firstamount of torque and the second amount of torque are different.
 19. Thesurgical instrument of claim 16, wherein the rotary drive memberaccelerates at a first rate when the motor is in the first operatingmode, wherein the rotary drive member accelerates at a second rate whenthe motor is in the second operating mode, and wherein the first rateand the second rate are different.
 20. The surgical instrument of claim11, further comprising a pull cable operably engaged with the lockmember and the end effector, wherein the pull cable is configured totransition the end effector between a first configuration where the endeffector is unlocked from the shaft and a second configuration where theend effector is locked to the shaft.